Research on Walking in the Atkeson Lab


Equipment

We have a human-sized biped built by Sarcos, and Garth Zeglin has built a series of smaller bipeds for this research.


Papers Using These Robots, and some related papers

Push Recovery by Stepping for Humanoid Robots with Force Controlled Joints, B. Stephens and C. G. Atkeson, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2010.

Control of Instantaneously Coupled Systems Applied to Humanoid Walking, E. C. Whitman and C. G. Atkeson, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 210-217, 2010.

State Estimation for Force-Controlled Humanoid Balance using Simple Models in the Presence of Modeling Error, Benjamin Stephens, ICRA 2011.

Dynamic Balance Force Control For Compliant Humanoid Robots, B. Stephens and C. G. Atkeson, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1248-1255, 2010.

Gain scheduled control of perturbed standing balance, D. Xing, C. G. Atkeson, J. Su, and B. Stephens, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4063-4068, 2010.

An optimization approach to rough terrain locomotion, M. Zucker, J. A. Bagnell, C. G. Atkeson, and J. Kuffner, IEEE International Conference on Robotics and Automation (ICRA), 3589-3595, 2010.

Control of a Walking Biped Using a Combination of Simple Policies, E. Whitman and C. G. Atkeson, Proc. IEEE Int'l Conf. on Humanoid Robotics, 2009.

Modeling and Control of Periodic Humanoid Balance using the Linear Biped Model, Benjamin Stephens, Christopher Atkeson, Proc. IEEE Int'l Conf. on Humanoid Robotics, 2009.

Standing balance control using a trajectory library, Liu, Chenggang; Atkeson, Christopher G.; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, Pages: 3031 - 3036.

Nonparametric representation of an approximated Poincare map for learning biped locomotion, Jun Morimoto and Christopher G. Atkeson, Autonomous Robots, 27(2), 131-144, 2009.

Phase plane control of a humanoid, Choi, Dongil and Atkeson, C G and Cho, Sung Ju and Kim, Jung-Yup, 8th IEEE-RAS International Conference on Humanoid Robots, 145--150, 2008.

Random Sampling of States in Dynamic Programming, C. G. Atkeson and B. Stephens, in IEEE Transactions on Ssytems, Man, and Cybernetics - Part B: Cybernetics, Vol. 38, No. 4, pp. 924-929, 2008.

Sensory Adaptation in Human Balance Control: Lessons for Biomimetic Robotic Bipeds, Arash Mahboobin, Patrick J. Loughlin, Mark S. Redfern, Stuart O. Anderson, Christopher G. Atkeson, and Jessica K. Hodgins. Neural Networks, 21(4):621-627, 2008.

Multiple Balance Strategies From One Optimization Criterion, Christopher Atkeson and Benjamin Stephens, Humanoids 2007.

Humanoid Push Recovery, Benjamin Stephens, Humanoids 2007.

Integral Control of Humanoid Balance, Benjamin Stephens, IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS'07).

Compliant Control of a Hydraulic Humanoid Joint, Darrin Bentivegna, Christopher Atkeson and Jung-Yup Kim, Humanoids 2007.

Online Gain Switching Algorithm for Joint Position Control of a Hydraulic Humanoid Robot, Jung-Yup Kim, Christopher Atkeson, Jessica Hodgins, Darrin Bentivegna and Sung Ju Cho, Humanoids 2007.

Learning Biped Locomotion: Application of Poincare-map-based reinforcement learning, Jun Morimoto and Christopher G. Atkeson, IEEE Robotics & Automation Magazine, 14(2):41-51 June 2007.

Improving humanoid locomotive performance with learnt approximated dynamics via Gaussian processes for regression Jun Morimoto, Christopher G. Atkeson, Gen Endo, and Gordon Cheng, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, 4234-4240.

Controlling Velocity In Bipedal Walking: A Dynamic Programming Approach, Thijs Mandersloot, Martijn Wisse, and Christopher G. Atkeson, Humanoids 2006.

Coordinating Feet in Bipedal Balance, Stuart Anderson, Christopher G. Atkeson, and Jessica Hodgins, Humanoids 2006.

Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking, J. Morimoto, G. Endo, J. Nakanishi, S. Hyon, G. Cheng, D. Bentivegna and C.G. Atkeson, ICRA 2006.

Powered Bipeds Based on Passive Dynamic Principles, S. O. Anderson, M. Wisse, C. G. Atkeson, J. K. Hodgins, G. J. Zeglin, B. Moyer, Humanoids 2005, p. 110-6.

Swing leg retraction helps biped walking stability, M. Wisse, C. G. Atkeson, D. K. Kloimwieder, Humanoids 2005, p. 295-300.

Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion, Mike Stilman, Chris Atkeson, James Kuffner and Garth Zeglin, ICRA 2005.

Poincare-map-based Reinforcement Learning for Biped Walking, Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin, ICRA 2005.

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, Robotics and Autonomous Systems, Vol.47, Pages 79-91, (June 2004)

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 Biped Walking Policy Using an Approximate Poincare 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)

A Simple Reinforcement Learning Algorithm For Biped Walking, Jun Morimoto, Garth Zeglin, Christopher G. Atkeson, and Gordon Cheng, 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.

Minmax Differential Dynamic Programming: Application to a Biped Walking Robot, Jun Morimoto, Garth Zeglin and Christopher 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 Atkeson, Neural Information Processing Systems 2002, Vancouver, Canada (2002)

Nonparametric Representation of Policies and Value Functions: A Trajectory-Based Approach, C. G. Atkeson and J. 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