Papers and Posters

Papers

• Using controllability of simple models to generate maximally robust walking-robot controllers
  Petr Zaytsev
  PhD Dissertation, Cornell University, 2015
• Off-line controller design for reliable walking of Ranger:
  Matthew Kelly, Matthew Sheen, and Andy Ruina
  IEEE International Confrence on Robotics and Automation, 2016
• Two steps is enough: no need to plan far ahead for walking balance
  Petr Zaytsev, S. Javad Hasaneini, and Andy Ruina
  IEEE International Conference on Robotics and Automation, 2015
• Steinkamp's Toy Can Hop 100 Times But Can't Stand Up
  Gregg Stiesberg, Tim van Oijen, and Andy Ruina
  J. Mechanisms Robotics 9(1), 011017 (Jan 13, 2017)
• Non-linear robust control for inverted-pendulum 2D walking
  Matthew Kelly and Andy Ruina
  2015 IEEE International Conference on Robotics and Automation (ICRA)
• Low-bandwidth reflex-based control for lower power walking: 65 km on a single battery charge
  Pranav A. Bhounsule, Jason Cortell, Anoop Grewal, Bram Hendriksen, J. G. Daniël Karssen, Chandana Paul and Andy Ruina
  The International Journal of Robotics Research 2014, Vol. 33(10) 1305-1321
• Dynamic Simulation of Nonlinear Hybrid Rigid-Object Systems With Intermittent Non-Holonomic Constraints: In search of Stable Passive Hopping
  Gregg Stiesberg
  Cornell PhD 2016
• A Controller Design Framework for Bipedal Robots: Trajectory Optimiation and Event-Based Stabilization
  Pranav Audhut Bhounsule
  Cornell PhD, May 2012
• Swing-leg retraction efficiency in bipedal walking
  S. Javad Hasaneini, Chris J.B. Macnab, John E.A. Bertram, and Henry Leung
  Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
• Controllability and viability: a look at robustness of walking
  Petr Zaytsev, Andy Ruina
  Proceedings of Dynamic Walking, 2013
• Numerical accuracy of two benchmark models of walking: the rimless spoked wheel and the simplest walker
  Pranav A. Bhounsule
  Robotica, 33(6), pp. 1314?1324. doi: 10.1017/S0263574714000745.
• Control of a compass gait walker based on energy regulation using ankle push-off and foot placement
  Pranav A. Bhounsule
  Dynamics of Continuous, Discrete and Impulsive Systems, Series B, Applications and Algorithms 2014
• Model Reduction And Controller-Design Simplification For Bipedal Robots
  Grewal, Anoop
  Cornell
• Actuator design for a high-performance legged biped robot
  Jason Cortell and Andy Ruina
  Dynamic Walking Confrence, 2014
• Electric motor and transmission sizing and optimization for dynamics robots, exoskeletons, and prosthetics
  Jason Cortell
  Dynamic Walking Confrence, 2016
• Motor learning in the game QWOP
  Matt Sheen and Andy Ruina
  Dynamic Walking Confrence, 2015

Posters

• Optimizing actuation for a legged robot
  Jason Cortell, Boris Kogan, and Andy Ruina
  Dynamic Walking Confrence, 2014
• Introducing the Mk III Cornell Biped (Tik Tok)
  Jason Cortell, Peter Baggaley, and Andy Ruina
  Dymnamic Walking Confrence, 2015
• Agile and Efficent Biped: CornellX MkIII (Tik-Tok)
  Jason Cortell, Peter Baggaley, and Andy Ruina
  Dynamic Walking Confrence, 2015
• Motors and transmissions for nimble robots, exoskeletons, and prosthetics
  Jason Cortell
  Dynamic Walking Confrence, 2016