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.
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“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]
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“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]
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ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE
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Self-citationFROST*: Fast robot optimization and simulation toolkit
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From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking
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Self-citationBipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control
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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
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
“Many rely on elaborate state machines that coordinate the execution of motion primitives and reflex controllers [1–5].”
Learning quadrupedal locomotion over challenging terrain
Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000448343 · Cited by 752
Contact-aided invariant extended Kalman filtering for robot state estimation
Hartley, R., Ghaffari, M., Eustice, R. M., & Grizzle, J. W. (2020) · The International Journal of Robotics Research · doi:10.1177/0278364919894385 · Cited by 325
Self-citationAdvancements in Humanoid Robots: A Comprehensive Review and Future Prospects
Tong, Y., Liu, H., & Zhang, Z. (2024) · IEEE/CAA Journal of Automatica Sinica · doi:10.1109/jas.2023.124140 · Cited by 315
Real-world humanoid locomotion with reinforcement learning
Radosavovic, I., Xiao, T., Zhang, B., Darrell, T., Malik, J., & Sreenath, K. (2024) · Science Robotics · doi:10.1126/scirobotics.adi9579 · Cited by 346
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
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