Carnegie Mellon University > Robotics Institute > Garth Zeglin > Research > Publications
The Bow Leg Hopping Robot. Garth Zeglin. PhD thesis, Carnegie Mellon University, October 1999. CMU-RI-TR-99-33.[ps][ps.gz]
Resilient Leg Design for Hopping, Running, and Walking Machines. H. Benjamin Brown, Jr., Garth J. Zeglin, Illah R. Nourbakhsh. U.S. Patent 7,270,589. Filed May 12, 2000, issued Sep. 18, 2007.
Energy Storage Device Used in Locomotion Machine. H. Benjamin Brown, Jr., Illah R. Nourbakhsh, Garth John Zeglin. U.S. Patent 6,558,297. Filed July 28, 2000, issued May 6, 2003.
Preparatory object rotation as a human-inspired grasping strategy, Lillian Y. Chang, Nancy S. Pollard, Garth J. Zeglin. 8th IEEE-RAS International Conference on Humanoid Robots, 2008.
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, 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.
Acquisition of a Biped Walking Pattern Using an Approximate Poincaré Map, Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin, IEEE-RAS/RSJ Int. Conf. on Humanoid Robots (Humanoids 2004)/Proceeding CD, (November 2004)
A Simple Reinforcement Learning Algorithm For Biped Walking, Jun Morimoto, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin, IEEE International Conference on Robotics and Automation, Pages 3030-3035, (April 2004).
Minimax Differential Dynamic Programming: Application to a Biped Walking Robot, Jun Morimoto, Garth Zeglin, Christopher G. Atkeson, IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA (2003).
First hops of the 3D Bow Leg, Garth Zeglin, H.B. Brown Jr. Proceedings of the 5th International Conference on Climbing and Walking Robots, pages 357-364, 2002.
The Bow Leg Hopping Robot, H.B. Brown Jr., Garth Zeglin. IEEE International Conference on Robotics and Automation, 1998.[ps.gz]
Control of a Bow Leg Hopping Robot, Garth Zeglin, H.B. Brown, Jr. IEEE International Conference on Robotics and Automation, 1998.[ps.gz]
Uniroo: A One Legged Dynamic Hopping Robot. Garth Zeglin. B.S. thesis, MIT Dept. of Mechanical Engineering, 1991.
Page revision: 2010/10/14.
Garth Zeglin, Robotics Institute, Carnegie Mellon University.