The DOI matches its Crossref record; 27 of the 27 references it cites were found in a registry or an index.
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Open accessAbstract
The Cassie bipedal robot designed by Agility Robotics is providing academics with a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking using the methods of virtual constraints and gait libraries. The designed controller was implemented six weeks after the robot arrived at the University of Michigan and allowed it to stand in place as well as walk over sidewalks, grass, snow, sand, and burning brush. The controller for standing also enables the robot to ride a Segway. Software supporting the work in this paper is available on GitHub.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
In the citing paper
“To date, no published work has demonstrated dynamic locomotion in diverse, challenging natural environments as shown in Fig. 1.”
From Learning quadrupedal locomotion over challenging terrain (2020) · cites this paper as [5]
In the citing paper
“Many rely on elaborate state machines that coordinate the execution of motion primitives and reflex controllers [1-5].”
From Learning quadrupedal locomotion over challenging terrain (2020) · cites this paper as [5]
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
Isidori, A. (1989) · Springer eBooks · doi:10.1007/978-3-662-02581-9 · Cited by 7,881
(2012) · SpringerReference · doi:10.1007/springerreference_117570 · Cited by 4,486
Biped walking pattern generation by using preview control of zero-moment point
Kajita, S., Kanehiro, F., Kaneko, K., et al. (2004) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2003.1241826 · Cited by 2,124
ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE
VUKOBRATOVIC, M. K., & Borovać, B. (2004) · International Journal of Humanoid Robotics · doi:10.1142/s0219843604000083 · Cited by 2,051
The development of Honda humanoid robot
Hirai, K., Hirose, M., Haikawa, Y., et al. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1998.677288 · Cited by 1,923
Feedback Control of Dynamic Bipedal Robot Locomotion
Westervelt, E. R., Grizzle, J. W., Chevallereau, C., et al. (2010) · CRC Press eBooks · doi:10.1201/9781420053739 · Cited by 1,073
Self-citationKoolen, T., de Boer, T., Rebula, J. R., Goswami, A., & Pratt, J. E. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364912452673 · Cited by 477
Pratt, J. E., Koolen, T., de Boer, T., et al. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364912452762 · Cited by 263
Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body
Kaneko, K., Kanehiro, F., Morisawa, M., et al. (2011) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2011.6094465 · Cited by 225
Velocity-Based Stability Margins for Fast Bipedal Walking
Pratt, J. E., & Tedrake, R. (2007) · Springer eBooks · doi:10.1007/978-3-540-36119-0_14 · Cited by 212
Flagged first, then by citations
Research works printed but not linked: 12
- 2018, Cassie Blue and Associated Press
- 2018, Cassie Blue at the UM Dental School
- 2018, Cassie Blue Hones Her Segway Riding Skills
- 2018, Cassie Blue Plays in the Sand
- 2018, Cassie Blue Summary Video
- 2018, Cassie Blue Walks Through Fire
- 2019, Cassie’s Polar Vortex Original Record
- 2019, Feedback Controller for a Cassie Robot
- Hartley, 2017, Cassie URDF and FROST Model
- 10.1115/DSCC2015-9899 · DOI
- 2018, Cassie Simulators
- Schepelmann, 2018, Experimental evaluation of robust swing-leg placement controls in robotic limb testbeds
Cited by
Sorted by citations
Items 101–200 of 221
LORM: a novel reinforcement learning framework for biped gait control
Zhang, W., Jiang, Y., Farrukh, F. U. D., Zhang, C., Zhang, D., & Wang, G. (2022) · PeerJ Computer Science · doi:10.7717/peerj-cs.927 · Cited by 6
Gu, Y., Gao, Y., Yao, B., et al. (2022) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.4054732 · Cited by 6
Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots
Cheng, J., Alqaham, Y. G., Sanyal, A. K., & Gan, Z. (2023) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc55779.2023.10156623 · Cited by 6
“In general, the 3D motion of the robot can be achieved by including an additional speed regulation controller in the transverse direction [21].”
BackgroundZhou, S., Liu, S., Lin, Z., et al. (2023) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm58088.2023.10218916 · Cited by 6
“To overcome this difficulty, many theoretical and experimental methods have been proposed and successfully applied to robots, such as MIT Cheetah 3 [2], ANYmal of ETH Zurich [3], Cassie [4], etc.”
MethodInformable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning
Huang, J.-K., Tan, Y., Lee, D., et al. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10160838 · Cited by 6
“systems [32], [54]–[65] on a robot to perform point-to-point tomometric navigation in graph-based maps while locally avoiding obstacles and uneven terrain.”
BackgroundSelf-citationGibson, G., Dosunmu-Ogunbi, O., Gong, Y., et al. (2021) · arXiv (Cornell University) · Cited by 6
Self-citationZippy: The Smallest Power-Autonomous Bipedal Robot
Man, S., Narita, S., Macera, J., et al. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128531 · Cited by 5
“Reducing the number of legs to two is more common at larger sizes in humanoid robot designs [7,8].”
Towards Humanoids Using Personal Transporters: Learning to Ride a Segway from Humans
Rajendran, V., Lin, J. F.-S., & Mombaur, K. (2022) · IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob52689.2022.9925458 · Cited by 5
“[6] successfully enabled the Cassie bipedal robot to balance and drive a Segway miniPro by modifying the nominal standing controller and shifting its centre of mass (CoM) for accelerating and turning.”
MethodA Heuristics-Based Reinforcement Learning Method to Control Bipedal Robots
Qin, D., Zhang, G., Zhu, Z., Chen, T., Zhu, W., Rong, X., Xie, A., & Li, Y. (2023) · International Journal of Humanoid Robotics · doi:10.1142/s0219843623500135 · Cited by 6
Learning Robust Locomotion for Bipedal Robot via Embedded Mechanics Properties
Zhang, Y., Chen, X., Meng, F., Yu, Z., Du, Y., Gao, J., & Huang, Q. (2024) · Journal of Bionic Engineering · doi:10.1007/s42235-023-00452-9 · Cited by 5
“Moreover, different tasks prefer the corresponding foot structures [2, 3], for example, static walking on flat ground prefers flat-actuated feet to provide sufficient balance torques, while a smaller-sized design of foot can provide better dynamic performance like the bipedal robot Cassie [4].”
Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts
Tidd, B., Cosgun, A., Leitner, J., & Hudson, N. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636233 · Cited by 5
Implementation of a Large-Scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism
Gim, K. G., & Kim, J. (2022) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur55393.2022.9826239 · Cited by 5
ZMP Feedback Balance Control of Humanoid in Response to Ground Acceleration
Konishi, M., Kojima, K., Okada, K., et al. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10341851 · Cited by 5
“There are several studies of biped robots riding on a Two-Wheeled Scooter : for example, the research by Kimura et al. using the humanoid HRP2 [4] and the research by Yukai et al. using the biped robot Cassie [5].”
MethodDu, W., Fnadi, M., Moullet, E., & Amar, F. B. (2021) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-021-01503-1 · Cited by 5
“Although the four-joint leg already exists both in the research literature [20, 22, 54] and in the business company, e.g. Bigdog in Boston Dynamics, Cassie in Agility Robotics [16].”
BackgroundJung, H., Gu, Z., Zhao, Y., Park, H.-W., & Ha, S. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3608637 · Cited by 4
“While model-based approaches typically design their control frameworks directly in the target domain (i.e., the real world) or within high-fidelity simulators [35], [36], learning-based approaches usually utilize the simulation data to facilitate the data generation process.”
Reinforcement Learning-Based Footstep Control for Humanoid Robots on Complex Terrain
Suliman, W., Davydenko, E., Chaikovskaia, E., & Gorbachev, R. (2025) · IEEE Access · doi:10.1109/access.2025.3622091 · Cited by 4
“The high-level controller generates reference trajectories for the robot’s joints or links using model-based techniques [1], [2], [3], [4].”
Fast Dynamic Walking with RH5 Humanoid Robot
Bergonzani, I., Popescu, M., Kumar, S., et al. (2023) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids57100.2023.10375193 · Cited by 4
“Furthermore, the bipedal robot Cassie [4] and its full humanoid version Digit [5] developed by Agility Robotics achieved high walking performance by leveraging a leg design inspired from bird walking mechanism and employing cycloidal drives, which display higher Fig.”
MethodMPC-Based Walking Stability Control for Bipedal Robots on Uneven Terrain
Liu, C.-C., Lin, Y.-C., & Li, C. (2025) · IEEE Access · doi:10.1109/access.2025.3541745 · Cited by 4
“For example, the Cassie bipedal robot developed by Agility Robotics [3] can effort-lessly traverse stairs, sidewalks, and rural roads—everyday environments commonly seen in schools, factories, and apartment complexes.”
Stewart-Height, A., Koditschek, D. E., & Johnson, M. J. (2021) · Disability and Rehabilitation Assistive Technology · doi:10.1080/17483107.2021.1926563 · Cited by 4
“At the extreme dynamical regime considered in this review, bipeds like Cassie must always be balancing, even at slow speeds.”
BackgroundMethodInfluentialOptimizing Dynamic Legged Locomotion in Mixed, Resistive Media
Austin, M. P., Nicholson, J. V., White, J., et al. (2022) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim52237.2022.9863276 · Cited by 4
Biped Robot Walking based on Deep Reinforcement Learning
Tadić, T., & Ćurković, P. (2023) · International Convention on Information and Communication Technology, Electronics and Microelectronics · doi:10.23919/mipro57284.2023.10159946 · Cited by 4
“This is not a simple errand, and many traditional [1-3] and AI-based approaches [4-8] exist trying to efficiently solve it.”
BackgroundWalking Control of Telescopic Leg Bipedal Robot Based on Angular Momentum Predictive Foothold
Gan, W., Liu, J., Tang, J., et al. (2023) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio58561.2023.10354997 · Cited by 4
“To enhance the walking ability of bipedal robots, commonly used methods include observing key variables such as the center of mass velocity [6], position [7], ZMP [8], angular momentum [9][10].”
MethodTang, J., Zhu, Y., Gan, W., et al. (2023) · Biomimetics · doi:10.3390/biomimetics8040340 · Cited by 4
“One such example is the robot Cassie, which, through the reduction of rotational degrees of freedom in ankle joints and the utilization of ten actuators, has been successful in achieving outdoor locomotion [11].”
BackgroundZhang, Q., Han, G., Sun, J., Zhao, W., Sun, C., Cao, J., Wang, J., Guo, Y., & Xu, R. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11245929 · Cited by 3
“When crossing obstacles, Tien Kung bends its knees to reduce impact and swings its arms to maintain balance. category of legged robot locomotion [1]–[5].”
Simplifying Aerial Manipulation Using Intentional Collisions
Nail, M., Jänne, N., Ma, O., et al. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161462 · Cited by 3
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
Albracht, M., Kumar, S., Vyas, S., & Kirchner, F. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3445668 · Cited by 3
“There are sophisticated climbing [1] and brachiation robots [2], [3], hopping robots [4], [5], quadrupedal robots [6], [7], and bipedal humanoid robots [8], [9] that are capable of navigating harsh environments with high agility.”
BackgroundMotion Planning and Control with Environmental Uncertainties for Humanoid Robot
Jiang, Z., Wang, Y., Wang, S., et al. (2024) · Sensors · doi:10.3390/s24237652 · Cited by 3
Energy-Efficient Bipedal Locomotion Through Parallel Actuation of Hip and Ankle Joints
Manoharan, P., & Karthikeyan, P. (2025) · Symmetry · doi:10.3390/sym17071110 · Cited by 3
Experimental Evaluation of Steering Actuator Configuration on the Behaviour of a Soft Growing Robot
Premarathna, M. M., Weerasinghe, R. K., Peiris, N. N., Kulasekera, A. L., & Dassanayake, P. C. (2022) · Moratuwa Engineering Research Conference (MERCon) · doi:10.1109/mercon55799.2022.9906266 · Cited by 3
A compliant leg design combining pantograph structure with leaf springs
Wang, B., Zhang, K., Ma, X., et al. (2023) · Robotica · doi:10.1017/s0263574723001443 · Cited by 3
“It achieves dynamic walking and running and is able to handle diverse and complex terrains [15, 16].”
BackgroundRosa, N., Katamish, B., Raff, M., et al. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10342322 · Cited by 3
“A common pair of operating points are the biped’s average walking speed and the incline of the walking surface [1], [2], [3], [4].”
BackgroundChaikovskaia, E., Minashina, I. K., Litvinenko, V., Davydenko, E., Makarov, D. A., Danik, Y., & Gorbachev, R. (2023) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar58858.2023.10406818 · Cited by 3
“However, using the direct gait library controller is marginally stable and requires an additional heuristic-based controller [10], [11].”
MethodRuscelli, F., Laurenzi, A., Hoffman, E. M., et al. (2021) · Frontiers in Robotics and AI · doi:10.3389/frobt.2021.660004 · Cited by 3
“This approach yielded successful results, but it is usually limited to robots with particular body structures (Rezazadeh et al., 2015; Gong et al., 2019).”
ResultReactive Gait Composition With Stability: Dynamic Walking Amidst Static and Moving Obstacles
Narkhede, K. S., Motahar, M. S., Veer, S., et al. (2023) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.4063997 · Cited by 3
Chen, G., Hou, B., Guo, S. L., et al. (2020) · Chinese Control and Decision Conference (CCDC) · doi:10.1109/ccdc49329.2020.9164160 · Cited by 3
Garcia, G., Griffin, R. J., & Pratt, J. E. (2019) · arXiv (Cornell University) · doi:10.48550/arxiv.1912.06078 · Cited by 3
“e Point had been extended to the well-known Divergent Component of Motion (DCM) [3, 4, 5, 6], highly used in walking, where usually the robot plans a trajectory using only this point in the space. In [7, 8] Grizzle et al. perform lateral stabilization for walking by enforcing the lateral average velocity to 0 as a con…”
BackgroundAdaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model UncertaintyPreprint
Thakkar, K., Paredes, V., & Hereid, A. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2104.11775 · Cited by 3
“Foot placement is a widely used heuristically-designed regulator as highlighted in [14], [24], [15].”
BackgroundSelf-citationVision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments.Preprint
Li, Z., Zeng, J., Chen, S., et al. (2021) · arXiv (Cornell University) · Cited by 3
Lu, B., Cao, H., Hao, Y., et al. (2025) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2025.3566751 · Cited by 2
“Among relevant research [20], [21], [22], [23], [24], motion planning plays a crucial role in generating feasible trajectories for the lower-level controllers.”
Robust and Efficient Walking of a Bipedal Humanoid Robot via Reinforcement Learning
Ji, C., Liu, D., Gao, W., & Zhang, S. (2025) · IEEE International Conference on Real-time Computing and Robotics (RCAR) · doi:10.1109/rcar65431.2025.11139510 · Cited by 3
“Due to the high dimensionality and nonlinearity of full-body dynamic models for bipedal systems, solving such optimization problems remains computationally challenging [8], [9].”
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain
Jin, F., Wang, Y., Ma, P., Yang, G., Zhao, P., Li, E., & Zhang, Z. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247486 · Cited by 2
Davydenko, E., Volchenkov, A. V., Gerasimov, V., et al. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247361 · Cited by 2
“Great research has been done on Cassie series robots that demonstrates the agile locomotion capabilities utilizing its decoupled design [2][3].”
Zhu, H., Luo, M., Lv, Z., et al. (2025) · Annals of the New York Academy of Sciences · doi:10.1111/nyas.70175 · Cited by 2
“For example, inspired by the elastic energy storage mechanism in ostrich limbs [4, 5], studies optimizing spring-mass models have markedly improved robotic locomotion efficiency.”
Limit cycles generation for energy-efficient bipedal walking via nonlinear model predictive control
Hanazawa, Y., UCHINO, Y., & Sagara, S. (2025) · Robotica · doi:10.1017/s0263574725103020 · Cited by 2
Applying Modified ZMP Gait Planning on Biped Robot Walking
Zhiyong, J., Lu, H., Chunlei, W., et al. (2023) · Chinese Control Conference (CCC) · doi:10.23919/ccc58697.2023.10239930 · Cited by 2
Decoupled Control of Bipedal Locomotion Based on HZD and H-LIP
Ye, Y., Yue, Y., Gao, W., et al. (2023) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio58561.2023.10354624 · Cited by 2
“The sagittal plane sub-controller is based on HZD [22], [18], using the method of virtual constraints , planar gait library and foot placement adjustment .”
MethodJi, C., Liu, D., Gao, W., & Zhang, S. (2023) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio58561.2023.10354629 · Cited by 2
“However, the locomotion control based on simplified models is heavily dependent on the environment, thus continuous optimization based on the environment is necessary, which brings up great challenges in dynamic application scenes [8], [9].”
BackgroundTouch-down condition control for the bipedal spring-mass model in walking
Vejdani, H. R., Wu, A., Geyer, H., et al. (2024) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ad9533 · Cited by 2
“We seek to understand the dynamical principles of spring-mass bipedal locomotion and use those concepts in controlling bipedal legged robots with leg compliance like ATRIAS and Cassie that can replicate the behavior of the spring-mass system [1–4].”
Atti, S. P., Raj, H., N, H. K. A., et al. (2024) · IEEE Uttar Pradesh Section International Conference on Electrical, Electronics and Computer Engineering (UPCON) · doi:10.1109/upcon62832.2024.10982951 · Cited by 2
Suliman, W., Davydenko, E., & Gorbachev, R. (2025) · Journal of Robotics · doi:10.1155/joro/9391563 · Cited by 2
“The torso, arms, and During the optimization process for both groups, the ankle pitch and roll joints were treated as passive, following the approach described in [14].”
Ruscelli, F., Laurenzi, A., Hoffman, E. M., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967661 · Cited by 2
“Nonetheless, many techniques were developed to implement 3D walking on different robots [8], [9], [10], most of them decoupling the walking gait into forward and lateral motion.”
MethodGait Control of a Fully Actuated Walking Robot
Hui, S., Lawati, M. A., & Broucke, M. E. (2020) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2020.12.2444 · Cited by 2
“25,−1] m/s for the safety and liveness constraints on η2, based on similar constraints for the Cassie robot (Gong et al., 2019).”
MethodHighly Dynamic Bipedal Locomotion via an Improved Virtual Model Algorithm
Zhu, Z., Zhu, W., Sun, Z., et al. (2021) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio54168.2021.9739561 · Cited by 2
“For example, Cassie[9] and Mercury[10] all utilized their narrow feet to limit the derivative of the yaw angle of their legs.”
BackgroundModelling and Design a Self-Balancing Dual-Wheeled Robot with PID Control
Nougues, S., Guayacan, S. M., Cuadros, D. G., et al. (2023) · International Conference on Control, Automation and Systems (ICCAS) · doi:10.23919/iccas59377.2023.10316757 · Cited by 2
“This type of robots are usually designed for search and rescue, since, they have a faster arrival than a human being and consume little energy [6].”
BackgroundGlobal-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation
Gao, Y., Barhydt, K., Niezrecki, C., et al. (2024) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.4065323 · Cited by 2
Adaptive Gait Acquisition through Learning Dynamic Stimulus Instinct of Bipedal Robot
Zhang, Y., Chen, X., Meng, F., Yu, Z., Du, Y., Zhou, Z., & Gao, J. (2024) · Biomimetics · doi:10.3390/biomimetics9060310 · Cited by 2
“On the bipedal platform Cassie [5], some RL methods have made progress [6–10], supporting the importance of electromechanical system design.”
MethodExperimental Validation of the Essential Model for a Complete Walking Gait with the NAO Robot
Márquez-Acosta, E., De-León-Gómez, V., Santibáñez, V., et al. (2024) · Robotics · doi:10.3390/robotics13080123 · Cited by 2
“…implemented in 3D cases [16,17], the HZD method does not scale well to high dimensions as it will be a robot with 22 DoF, as the NAO robot, and that is why in many works the HZD method is only implemented in the 2D planar dynamics of the robot and stabilized in 3D by an extra stabilizer [18–21].”
MethodInverse Kinematics Analysis of Cassie Robot using Radial Basis Function Networks
Mitra, M., Raj, S., & Kolathaya, S. (2021) · doi:10.1109/iria53009.2021.9588698 · Cited by 2
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating Uneven Terrains.Preprint
Li, J., Ma, J., & Nguyen, Q. (2021) · arXiv (Cornell University) · Cited by 2
On the Synthesis of Stable Walkover Gaits for the Acrobot
Kao-Vukovich, E., & Manfredi Maggiore, A. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3224315 · Cited by 1
“, [14], [15], [16], [17], [18]), prosthetic legs (e.”
Design and Simulation of Two-Wheel Balancing Robots
Zhang, J., & Wu, H. (2024) · doi:10.1109/isrimt63979.2024.10875266 · Cited by 1
Design and control of standing balance of a point-foot parallel-legged biped robot
Wang, R., Lü, Z., & Xiao, Y. (2025) · Journal of Mechanical Science and Technology · doi:10.1007/s12206-025-0636-0 · Cited by 1
A Force-Position Hybrid Control for Full-Size Humanoid Robots Based on Adaptive Parameters
Chen, Z., Zhong, S., Bai, J. W., et al. (2025) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2025.3583018 · Cited by 1
“Similarly for the Cassie robot, some scholars combined MPC to perform predictive control of angular momentum, and used the WBC method to achieve whole-body posture control, optimizing gait planning and dynamic balance [30], [31].”
Enhancing Navigation Efficiency of Quadruped Robots via Leveraging Personal Transportation Platforms
Yoon, M., & Yoon, S. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128861 · Cited by 2
ARTEMIS: An Open-Source, Full-Sized Humanoid Robot for Dynamic Locomotion
Zhu, T., Ahn, M. S., & Hong, D. W. (2025) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids65713.2025.11203020 · Cited by 1
“The knee joint, which often bears the most power requirements, often utilizes a single revolute joint while some incorporate parallel springs to improve energy efficiency during stance phases [20].”
Human-Inspired Adaptive Gait Learning for Humanoids Locomotion
Fu, L., Li, X., Liu, Y., et al. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3653300 · Cited by 1
Learning robust bipedal running via structured gait and trajectory guidance
Liang, Y., Peng, Z., Zhao, Y., & Yan, W. (2026) · Robotica · doi:10.1017/s0263574725103007 · Cited by 1
Walking Speed Control of Planar Bipedal Robot with Phase Control
Selim, E., & Alcı, M. (2022) · International Journal of Humanoid Robotics · doi:10.1142/s0219843622500232 · Cited by 1
Design of an Impact-resistant Elbow Mechanism for Wheel-legged Robot Crawling
Ma, X., Gao, J., Qiu, X., et al. (2023) · WRC Symposium on Advanced Robotics and Automation (WRC SARA) · doi:10.1109/wrcsara60131.2023.10261839 · Cited by 1
“Wheel-legged robot is a new type of humanoid robot, which integrates the advantages of wheeled robot and legged robot [1]–[3].”
BackgroundDesign and Control of the Biped Robot HTY
Liu, Y., Weng, J., Wang, F., et al. (2023) · Lecture notes in computer science · doi:10.1007/978-981-99-6492-5_35 · Cited by 1
Whole Body Balance Control for Bipedal Robots Based on Virtual Model Control
Gao, C., Xie, Y. H., Zhu, Y., et al. (2023) · Lecture notes in computer science · doi:10.1007/978-981-99-6492-5_31 · Cited by 1
Inverse Kinematics Model For a 18 Degrees of Freedom Robot
Ortega-Palacios, M. A., Merina, A. D. P., & Reyes, F. (2023) · Journal of Automation Mobile Robotics & Intelligent Systems · doi:10.14313/t4yf9254 · Cited by 1
Schwendeman, L., SaLoutos, A., Stanger–Jones, E., & Kim, S. (2023) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids57100.2023.10375233 · Cited by 3
Dynamic Locomotion of Bipedal Robots on Steep Slope through WBC and MPC
Bai, J. W., Zhong, S., Gao, J., et al. (2024) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm62033.2024.10715800 · Cited by 1
“Moreover, there are also many ways to implement bipedal robot walking across various terrains and climbing slopes using reinforcement learning [4] [5].”
BackgroundDosunmu-Ogunbi, O., Shrivastava, A., & Grizzle, J. W. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802406 · Cited by 1
“While the utilization of virtual constraints in legged loco-motion is not novel [13], [14], [15], [16], [17], [18], [19], applying them to a non-flat environment for bipedal robot navigation, as we do in this work, presents an innovative application.”
Self-citationPiecewise Virtual Constraints for Trajectory Planning of Underactuated Mechanical Systems
Mamedov, S., Khusainov, R., & Gaponov, I. (2021) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/case49439.2021.9551396 · Cited by 1
Discussion on the Stiffness of the Drive Chain in the Legs of Biped Robots
Du, R., Song, S., Yuan, H., et al. (2022) · Actuators · doi:10.3390/act11030079 · Cited by 1
Pankov, S. (2023) · International Journal of Control Automation and Systems · doi:10.1007/s12555-021-0466-5 · Cited by 1
“[7] Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, and Jessy Grizzle.”
BackgroundRough-terrain locomotion and unilateral contact force regulations with a multi-modal legged robot
Liang, K. (2021) · doi:10.17760/d20409206 · Cited by 1
Compliance control of connecting rod leg without force sensors
Gao, W., He, Y., Chen, C., et al. (2019) · Chinese Automation Congress · doi:10.1109/cac48633.2019.8996337
Fast, Optimal, and Safe Motion Planning for Bipedal Robots
Zhao, P. (2020) · Deep Blue (University of Michigan)
Haddeler, G. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2101.12347
“A bipedal robot from Agility Robotics is used to deliver goods in multi-storey outdoor terrain [3].”
MethodMake Bipedal Robots Learn How to ImitatePreprint
Kumar, V., & Thomas, S. S. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2105.07193
“Cassie [14] and Atlas [15] are examples of bipedal and humanoid robots respectively used for research.”
MethodHybrid and dynamic policy gradient optimization for bipedal robot locomotion.Preprint
Huang, C., Jiang, S., Zhang, Z., et al. (2021) · arXiv (Cornell University)
Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard
Anglingdarma, J., Agrawal, A., Morey, J., et al. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9560963
“For instance, the authors in [1] integrated and successfully demonstrated wheeled locomotion of Cassie with hovershoes and with segways in [2].”
BackgroundPeer Review #1 of "LORM: a novel reinforcement learning framework for biped gait control (v0.1)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.927v0.1/reviews/1
Peer Review #2 of "LORM: a novel reinforcement learning framework for biped gait control (v0.1)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.927v0.1/reviews/2
Design of BRAVER - a bipedal robot actuated via proprioceptive electric motor
Zhu, W., Zhu, Z., Rong, X., et al. (2021) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio54168.2021.9739343
“It simplified the robot’s dynamics to a point mass attached to a rod of fixed length, so called (inverted) pendulum models, to solve the gait design and stabilization problems[3].”
MethodPeer Review #2 of "LORM: a novel reinforcement learning framework for biped gait control (v0.2)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.927v0.2/reviews/2
Peer Review #1 of "LORM: a novel reinforcement learning framework for biped gait control (v0.2)"
(2022) · PeerJ Computer Science · doi:10.7287/peerj-cs.927v0.2/reviews/1
A unified framework for measuring interplane and intraplane coupling in spatial biped robots
Fevre, M., Goodwine, B., & Schmiedeler, J. P. (2022) · Autonomous Robots · doi:10.1007/s10514-022-10054-9
“, 2016; Da & Grizzle, 2019) and Cassie (Gong et al., 2019).”
MethodNejadfard, A., Schmitt, N. F., Schütz, S., et al. (2022) · Mechanisms and machine science · doi:10.1007/978-3-031-11128-0_9
Learning visuo-motor behaviours for robot locomotion over difficult terrain
Tidd, B. (2022) · Queensland University of Technology · doi:10.5204/thesis.eprints.235891
Learning fast and agile quadrupedal locomotion over complex terrainPreprint
Chang, X., Zhang, Z., An, H., Ma, H., & Wei, Q. (2023) · doi:10.22541/au.169762718.83712763/v1
Inverse Kinematics Model For a 18 Degrees of Freedom Robot
Ortega-Palacios, M. A., Merina, A. D. P., & Reyes, F. (2023) · Journal of Automation Mobile Robotics & Intelligent Systems · doi:10.14313/1-2023/3
Inverse Kinematics Model For a 18 Degrees of Freedom Robot
Ortega-Palacios, M. A., Merina, A. D. P., & Reyes, F. (2023) · Journal of Automation Mobile Robotics & Intelligent Systems · doi:10.14313/jamris/1-2023/3
Capture point control in thruster-assisted bipedal locomotion
Bondada, A. (2024) · doi:10.17760/d20659775
Control of Biped Sideways Walking with Two-Periodic Gait Design
Chen, T. (2024) · International Conference on Control and Automation · doi:10.1109/icca62789.2024.10591938
“The approach has been experimentally implemented on biped robots such as RABBIT [14], ERNIE [15], [16], MABEL [17], [18], MARLO [19], and Cassie [20].”
MethodA Novel Design and Simulation of Knee Joint for Humanoid Robot with Variable Output Torque
Zhang, C., Huang, G., & Ceccarelli, M. (2024) · Mechanisms and machine science · doi:10.1007/978-3-031-67383-2_18
Cui, L., Deng, T., Ma, L., et al. (2024) · International Conference on Electrical Power Systems and Intelligent Control (EPSIC) · doi:10.1109/epsic63429.2024.00020
“Without explicit guidance, RL algorithms may require a large number of iterations to learn effective gaits, and the learned gaits may not possess the desired stability or efficiency[7].”
Metadata
- Authors
- Gong, Y., Hartley, R., Da, X., Hereid, A., Harib, O., Huang, J.-K., & Grizzle, J.
- Affiliations
- University of Michigan (US)
- Venue
- 2019 American Control Conference (ACC)
- Publisher
- IEEE
- Published
- 2019-07
- Pages
- 4559-4566
- ISSN
- 0743-1619 (ISSN-L)
- OpenAlex
- W2972798201
- Semantic Scholar
- 76a89e10661d5ccb96af2c76625c24e909ab3b84
- Cited by
- 221
- References
- 26
- Citations by year
- 2026: 9 · 2025: 27 · 2024: 32 · 2023: 48 · 2022: 39 · 2021: 36 · 2020: 19 · 2019: 10
- FWCI
- 53.98
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Locations
- Proceedings of the ... American Control Conference/Proceedings of the American Control Conference (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- arXiv (Cornell University)
- Funders
- National Science Foundation (1525006)
- Toyota Research Institute
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- feedback control, virtual constraints, bipedal walking, legged locomotion
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
