Carnegie Mellon University > Robotics Institute > Garth Zeglin > Research > Bipeds > Publications

CMU Dynamic Biped Project: Project Publications

This is the full list of publications related to our bipeds, i.e., either published by us or our collaborators using our equipment or data.

• Ankle springs instead of arc-shaped feet for passive dynamic walkers, Martijn Wisse, Daan G.E. Hobbelen, Remco J.J. Rotteveel, Stuart O. Anderson, Garth J. Zeglin.6th IEEE-RAS International Conference on Humanoid Robots, 2006.
• Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion, Mike Stilman, Chris Atkeson, James Kuffner and Garth Zeglin, ICRA 2005.
• Poincaré-Map-Based Reinforcement Learning for Biped Walking, Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin, ICRA 2005.
• A Framework for Learning Biped Locomotion with Dynamical Movement Primitives, Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato, IEEE-RAS/RSJ Int. Conf. on Humanoid Robots (Humanoids 2004)/Proceeding CD, (November 2004).
• Acquisition of a Biped Walking Pattern Using an Approximate Poincaré Map, Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin, IEEE-RAS/RSJ Int. Conf. on Humanoid Robots (Humanoids 2004)/Proceeding CD, (November 2004)
• An Empirical Exploration of Phase Resetting for Robust Biped Locomotion with Dynamical Movement Primitives, Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 919-924, (October 2004).
• Learning from demonstration and adaptation of biped locomotion, Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato, Robotics and Autonomous Systems, Vol.47, Pages 79-91, (June 2004).
• A Simple Reinforcement Learning Algorithm For Biped Walking, Jun Morimoto, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin, IEEE International Conference on Robotics and Automation, Pages 3030-3035, (April 2004).
• An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control, Gen Endo, Jun Morimoto, Jun Nakanishi, and Gordon Cheng, IEEE International Conference on Robotics and Automation, Pages 3036-3042, (April 2004).
• Policy Search by Dynamic Programming, J. Bagnell, S. Kakade, A. Ng, and J. Schneider, Neural Information Processing Systems, MIT Press, Vol. 16, December, 2003.
• Minimax Differential Dynamic Programming: Application to a Biped Walking Robot, Jun Morimoto, Garth Zeglin and Christopher G. Atkeson, IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA (2003).
• Learning from Demonstration and Adaptation of Biped Locomotion with Dynamical Movement Primitives, Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal and Mitsuo Kawato, Workshop on Robot Programming by Demonstration, IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA (2003).
• Minimax Differential Dynamic Programming: An Application to Robust Biped Walking, Jun Morimoto and Christopher G. Atkeson, Neural Information Processing Systems 2002, Vancouver, Canada (2002).
• Nonparametric Representation of Policies and Value Functions: A Trajectory-Based Approach, Christopher G. Atkeson and Jun Morimoto, NIPS 2002.
• Robust Low Torque Biped Walking Using Differential Dynamic Programming with a Minimax Criterion, Jun Morimoto and Christopher Atkeson, CLAWAR 2002, September 25-29, 2002.

Page revision: 2010/10/14.