The DOI matches its Crossref record; 26 of the 26 references it cites were found in a registry or an index.
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid
Abstract
This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. Part 1 introduced the N-step capturability framework and showed how to obtain capture regions and control sequences for simplified gait models. In Part 2, we describe an algorithm that uses these results as approximations to control a humanoid robot. The main contributions of this part are (1) step location adjustment using the 1-step capture region, (2) novel instantaneous capture point control strategies, and 3) an experimental evaluation of the 1-step capturability margin. The presented algorithm was tested using M2V2, a 3D force-controlled bipedal robot with 12 actuated degrees of freedom in the legs, both in simulation and in physical experiments. The physical robot was able to recover from forward and sideways pushes of up to 21 Ns while balancing on one leg and stepping to regain balance. The simulated robot was able to recover from sideways pushes of up to 15 Ns while walking, and walked across randomly placed stepping stones.
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Cites
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Gaze and the Control of Foot Placement When Walking in Natural Terrain
Matthis, J. S., Yates, J. L., & Hayhoe, M. M. (2018) · Current Biology · doi:10.1016/j.cub.2018.03.008 · Cited by 424
Models, feedback control, and open problems of 3D bipedal robotic walking
Grizzle, J. W., Chevallereau, C., Sinnet, R. W., & Ames, A. D. (2014) · Automatica · doi:10.1016/j.automatica.2014.04.021 · Cited by 321
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Gong, Y., Hartley, R., Da, X., Hereid, A., Harib, O., Huang, J.-K., & Grizzle, J. (2019) · 2019 American Control Conference (ACC) · doi:10.23919/acc.2019.8814833 · Cited by 221
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots
Li, Z., Cheng, X., Peng, X. B., Abbeel, P., Levine, S., Berseth, G., & Sreenath, K. (2021) · 2021 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra48506.2021.9560769 · Cited by 219
Metadata
- Authors
- Pratt, J., Koolen, T., de Boer, T., Rebula, J., Cotton, S., Carff, J., Johnson, M., & Neuhaus, P.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2012-08-06
- Volume
- 31
- Issue
- 10
- Pages
- 1117-1133
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2162109810
- Cited by
- 263
- References
- 26
- FWCI
- 11.16
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid. https://app.cochat.ai/papers/10.1177/0278364912452762
- The paper
- Pratt, J., Koolen, T., de Boer, T., Rebula, J., Cotton, S., Carff, J., Johnson, M., & Neuhaus, P. (2012). Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid. The International Journal of Robotics Research. https://doi.org/10.1177/0278364912452762
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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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