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Eric R Westervelt
Eric R Westervelt
GE Research
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Feedback control of dynamic bipedal robot locomotion
ER Westervelt, JW Grizzle, C Chevallereau, JH Choi, B Morris
CRC press, 2018
14382018
Hybrid zero dynamics of planar biped walkers
ER Westervelt, JW Grizzle, DE Koditschek
IEEE transactions on automatic control 48 (1), 42-56, 2003
10532003
Rabbit: A testbed for advanced control theory
C Chevallereau, G Abba, Y Aoustin, F Plestan, E Westervelt, CC De Wit, ...
IEEE Control Systems Magazine 23 (5), 57-79, 2003
7472003
Stable walking of a 7-DOF biped robot
F Plestan, JW Grizzle, ER Westervelt, G Abba
IEEE Transactions on Robotics and Automation 19 (4), 653-668, 2003
3602003
Experimental validation of a framework for the design of controllers that induce stable walking in planar bipeds
ER Westervelt, G Buche, JW Grizzle
The International Journal of Robotics Research 23 (6), 559-582, 2004
2132004
Asymptotically stable running for a five-link, four-actuator, planar bipedal robot
C Chevallereau, ER Westervelt, JW Grizzle
The International Journal of Robotics Research 24 (6), 431-464, 2005
1942005
Design and control of a planar bipedal robot ERNIE with parallel knee compliance
T Yang, ER Westervelt, JP Schmiedeler, RA Bockbrader
Autonomous robots 25, 317-330, 2008
1122008
Switching and PI control of walking motions of planar biped walkers
ER Westervelt, JW Grizzle, CC De Wit
IEEE Transactions on automatic control 48 (2), 308-312, 2003
1112003
A framework for the control of stable aperiodic walking in underactuated planar bipeds
T Yang, ER Westervelt, A Serrani, JP Schmiedeler
Autonomous Robots 27, 277-290, 2009
922009
Toward the systematic design of controllers for smooth hybrid electric vehicle mode changes
K Koprubasi, ER Westervelt, G Rizzoni
2007 American control conference, 2985-2990, 2007
782007
Low-dimensional sagittal plane model of normal human walking
S Srinivasan, IA Raptis, ER Westervelt
772008
Toward a coherent framework for the control of planar biped locomotion
ER Westervelt
University of Michigan, 2003
632003
Design of asymptotically stable walking for a 5-link planar biped walker via optimization
ER Westervelt, JW Grizzle
Proceedings 2002 IEEE International Conference on Robotics and Automation ¡¦, 2002
622002
A low-dimensional sagittal-plane forward-dynamic model for asymmetric gait and its application to study the gait of transtibial prosthesis users
S Srinivasan, ER Westervelt, AH Hansen
562009
Analysis results and tools for the control of planar bipedal gaits using hybrid zero dynamics
ER Westervelt, B Morris, KD Farrell
Autonomous Robots 23, 131-145, 2007
562007
Achieving bipedal running with RABBIT: Six steps toward infinity
B Morris, ER Westervelt, C Chevallereau, G Buche, JW Grizzle
Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control ¡¦, 2006
452006
Inducing dynamically stable walking in an underactuated prototype planar biped
ER Westervelt, G Buche, JW Grizzle
IEEE International Conference on Robotics and Automation, 2004. Proceedings ¡¦, 2004
452004
Event-based PI control of an underactuated biped walker
JW Grizzle, ER Westervelt, C Canudas-de-Wit
42nd IEEE International Conference on Decision and Control (IEEE Cat. No ¡¦, 2003
372003
Energetic effects of adding springs at the passive ankles of a walking biped robot
KD Farrell, C Chevallereau, ER Westervelt
Proceedings 2007 IEEE International Conference on Robotics and Automation ¡¦, 2007
332007
Zero dynamics of underactuated planar biped walkers
ER Westervelt, JW Grizzle, DE Koditschek
IFAC Proceedings Volumes 35 (1), 551-556, 2002
312002
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