The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Efficient Bipedal Robots Based on Passive-Dynamic Walkers
Abstract
Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level ground. Here we present three robots based on passive-dynamics, with small active power sources substituted for gravity, which can walk on level ground. These robots use less control and less energy than other powered robots, yet walk more naturally, further suggesting the importance of passive-dynamics in human locomotion.
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Cites
Optimal feedback control as a theory of motor coordination
Todorov, E., & Jordan, M. I. (2002) · Nature Neuroscience · doi:10.1038/nn963 · Cited by 3,081
Learning in spiking neural networks by reinforcement of stochastic synaptic transmission
Seung, H. S. (2003) · Neuron · doi:10.1016/s0896-6273(03)00761-x · Cited by 340
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Supersizing the Mind: Embodiment, Action, and Cognitive Extension
Clark, A. (2008) · doi:10.1093/acprof:oso/9780195333213.001.0001 · Cited by 2,201
Learning quadrupedal locomotion over challenging terrain
Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020) · Science Robotics · doi:10.1126/scirobotics.abc5986 · Cited by 1,156
Resilient Machines Through Continuous Self-Modeling
Bongard, J., Zykov, V., & Lipson, H. (2006) · Science · doi:10.1126/science.1133687 · Cited by 709
A direct method for trajectory optimization of rigid bodies through contact
Posa, M., Cantu, C., & Tedrake, R. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913506757 · Cited by 597
Self-citationVariable Stiffness Actuators: Review on Design and Components
Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., et al. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2501019 · Cited by 459
Metadata
- Authors
- Collins, S., Ruina, A., Tedrake, R., & Wisse, M.
- Venue
- Science
- Published
- 2005-02-18
- Volume
- 307
- Issue
- 5712
- Pages
- 1082-1085
- ISSN
- 0036-8075 (ISSN-L)
- 1095-9203
- OpenAlex
- W2029058516
- Cited by
- 1,873
- References
- 2
- FWCI
- 75.65
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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