Book Contributions
-
M. Amin-Javaheri and D. E. Orin, "Non-Strict Computation of the Manipulator
Inertia Matrix," in Parallel Computation Systems for Robotics: Algorithms
and Architectures (A. Fijany and A. Bejczy, ed.), pp. 53-76, World
Scientific, 1992.
-
R. Featherstone and D. E. Orin, "Review of A Spatial Operator Algebra
for Manipulator Modeling and Control by G. Rodriguez, A. Jain, and K. Kreutz-Delgado,"
in Robotics Review 2 (O. Khatib, J. J. Craig, and T. Lozano-Perez,
eds.), pp. 203-206, Cambridge, MA: The MIT Press,
1992.
-
K. Mirza, M. D. Hanes, and D. E. Orin, "Dynamic Simulation of Multiple-Contact Power Grasp for Dexterous Hands," in Robotics and Manufacturing:
Recent Trends in Research, Education, and Applications (M. Jamshidi, R. Lumia,
J. Mullins, and M. Shahinpoor, eds.), pp. 59-62, New York: ASME Press, 1992.
-
C. H. Chen, K. Mirza, and D. E. Orin, "Force Control of Planar Power Grasp
in the DIGITS System," in Robotics and Manufacturing: Recent Trends in Research,
Education, and Applications (M. Jamshidi, R. Lumia, J. Mullins, and
M. Shahinpoor, eds.), pp. 189-194, New York: ASME Press, 1992.
-
S. McMillan, D. E. Orin, and R. B. McGhee, "DynaMechs: An Object Oriented
Software Package for Efficient Dynamic Simulation of Underwater Robotic
Vehicles," in Underwater Robotic Vehicles: Design and Control (J.
Yuh, ed.), pp. 73-98, Albuquerque, NM: TSI Press, 1995.
-
P. Yang, K. J. Waldron, and D. E. Orin, "Kinematics of a Three Degree-Of-
Freedom Motion Platform for a Low-Cost Driving Simulator," in Recent Advances
in Robot Kinematics (J. Lenarcic and V. Parenti-Castelli, eds.), pp. 89-98,
Boston: Kluwer Academic Publishers, 1996.
-
R. Featherstone and D. E. Orin, "Dynamics," in Springer Handbook of
Robotics (B. Siciliano and O. Khatib, eds.), pp. 35-65, Heidelberg, Germany: Springer, 2008.
-
D. E. Orin, "Robotics Foundations," in Springer Handbook of
Robotics (B. Siciliano and O. Khatib, eds.), pp. 5-7, Heidelberg,
Germany: Springer, 2008.
-
P. M. Wensing and D. E. Orin, "Control of Humanoid Hopping Based on a
SLIP Model," in Advances in Mechanisms, Robotics and Design
Education and Research (V. Kumar, J. Schmiedeler,
S. V. Sreenivasan, and H. J. Su, eds.), pp. 265-274, Heidelberg,
Germany: Springer, 2013.
-
P. M. Wensing and D. E. Orin, "Dynamic Models of Robots," in Encyclopedia of Robotics (M. Ang, O. Khatib, and B. Siciliano, eds.), Berlin, Heidelberg: Springer, 2020. https://doi.org/10.1007/978-3-642-41610-1_58-1
-
D. E. Orin and P. M. Wensing, "Dynamics," in Encyclopedia of Robotics (M. Ang, O. Khatib, and B. Siciliano, eds.), Berlin, Heidelberg: Springer, 2020.
https://doi.org/10.1007/978-3-642-41610-1_57-1
Journal Articles
-
S. McMillan, D. E. Orin, and P. Sadayappan, "Toward Super Real-Time Simulation
of Robotic Mechanisms Using a Parallel Integration Method," IEEE Transactions
on Systems, Man, and Cybernetics, vol. 22, pp. 384-391, March/April
1992.
-
M. D. Hanes, S. C. Ahalt, K. Mirza, and D. E. Orin, "Power Grasp Force
Distribution Control Using Artificial Neural Networks," Journal of Robotic
Systems, vol. 9, no. 5, pp. 635-661, July 1992.
-
K. W. Lilly and D. E. Orin, "Efficient O(N) Recursive Computation
of the Operational Space Inertia Matrix," IEEE Transactions on Systems,
Man, and Cybernetics, vol. 23, pp. 1384-91, September/October 1993.
-
S. McMillan, P. Sadayappan, and D. E. Orin, "Efficient Dynamic Simulation
of Multiple Manipulator Systems with Singular Configurations," IEEE
Transactions on Systems, Man, and Cybernetics, vol. 24, pp. 306-313,
February 1994.
-
K. W. Lilly and D. E. Orin, "Efficient Dynamic Simulation of Multiple Chain
Robotic Mechanisms," ASME Journal of Dynamic Systems, Measurement, and
Control, vol. 116, pp. 223-231, June 1994.
-
S. McMillan, P. Sadayappan, and D. E. Orin, "Parallel Dynamic Simulation
of Multiple Manipulator Systems: Temporal Versus Spatial Methods," IEEE
Transactions on Systems, Man, and Cybernetics, vol. 24, pp. 982-990,
July 1994.
-
H. C. Wong and D. E. Orin, "Control of a Quadruped Standing Jump over Irregular
Terrain Obstacles," Autonomous Robots, vol. 1, pp. 111-129, 1995.
-
S. McMillan, D. E. Orin, and R. B. McGhee, "Efficient Dynamic Simulation
of an Underwater Vehicle with a Robotic Manipulator," IEEE Transactions
on Systems, Man, and Cybernetics, vol. 25, pp. 1194-1206, August 1995.
-
S. McMillan and D. E. Orin, "Efficient Computation of Articulated-Body
Inertias Using Successive Axial Screws," IEEE Transactions on Robotics
and Automation, vol. 11, pp. 606-611, August 1995.
-
M. J. Sheridan, S. C. Ahalt, and D. E. Orin, "Fuzzy Control for Robotic
Power Grasp," Journal of Advanced Robotics, vol. 9, pp. 535-546,
October 1995.
-
D. W. Marhefka and D. E. Orin, "XAnimate: An Educational Tool for
Robot Graphical Simulation," IEEE Robotics and Automation Magazine,
vol. 3, pp. 6-14, June 1996.
-
S. McMillan, D. E. Orin, and R. B. McGhee, "A Computational Framework for
Simulation of Underwater Robotic Vehicle Systems," Journal of Autonomous
Robots, vol. 3, pp. 253-268, 1996.
-
D. W. Marhefka and D. E. Orin, "A Compliant Contact Model with Nonlinear
Damping for Simulation of Robotic Systems," IEEE Transactions on
Systems, Man, and Cybernetics, Part A: Systems and Humans,
vol. 29, no. 6, pp. 566-572, November 1999.
-
C. A. Tenaglia and D. E. Orin, "Design of a Roller Coaster System
Through Graphical Simulation," ASME Journal of Mechanical Design,
vol. 121, no. 4, pp. 640-646, December 1999.
-
M. H. Hung, D. E. Orin, and K. J. Waldron, "Efficient Formulation of
the Force Distribution Equations for General Tree-Structured
Robotic Mechanisms with a Mobile Base," IEEE Transactions on
Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 30,
no. 4, pp. 529-538, August 2000.
-
D. W. Marhefka, D. E. Orin, J. P. Schmiedeler, and K. J. Waldron,
"Intelligent Control of Quadruped Gallops,"
IEEE/ASME Transactions on Mechatronics, vol. 8, no. 4,
pp. 446-456, December 2003.
- D. P. Krasny and D. E. Orin, "Generating High-Speed Dynamic
Running Gaits in a Quadruped Robot Using an Evolutionary Search,"
IEEE Transactions on
Systems, Man, and Cybernetics, Part B: Cybernetics,
vol. 34, no. 4, pp. 1685-1696, August 2004.
-
J. G. Nichol, S. P. N. Singh, K. J. Waldron, L. R. Palmer III, and
D. E. Orin, "System Design of a Quadrupedal Galloping Machine,"
The International Journal of Robotics Research, vol. 23,
no. 10-11, pp. 1013-1027, October-November 2004.
-
M. H. Hung, F. T. Cheng, H. L. Lee, and D. E. Orin, "Increasing the
Stability Margin of Multilegged Vehicles Through Body Sway,"
Journal of the Chinese Institute of Engineers,
vol. 28, no. 1, pp. 39-54, January 2005.
-
W. Hu, D. W. Marhefka, and D. E. Orin, "Hybrid Kinematic and Dynamic
Simulation of Running Machines," IEEE Transactions on Robotics,
vol. 21, no. 3, pp. 490-497, June 2005.
-
L. R. Palmer III and D. E. Orin, "3D Control of a High-Speed Quadruped
Trot," Industrial Robot,
vol. 33, no. 4, pp.298-302, 2006.
- S. Curran, B. T. Knox, J. P. Schmiedeler, and D. E. Orin, "Design of Series-Elastic Actuators for Dynamic Robots with
Articulated Legs," ASME Journal of
Mechanisms and Robotics, vol. 1, no. 1, pp. 011006:1-9,
February 2009.
-
L. R. Palmer III and D. E. Orin, "Intelligent Control of High-Speed
Turning in a Quadruped," Journal of Intelligent and Robotic
Systems, vol. 58, no. 1, pp. 47-68, April 2009.
-
D. P. Krasny and D. E. Orin, "Evolution of a 3D Gallop in a Quadrupedal Model
With Biological Characteristics,"
Journal of Intelligent and Robotic Systems, vol. 60, no. 1,
pp. 59-82, October 2010.
-
D. E. Orin, A. Goswami, and S. H. Lee, "Centroidal Dynamics of a
Humanoid Robot," Autonomous Robots, vol. 35, no. 2-3, pp. 161-176,
October 2013.
-
P. M. Wensing, G. Bin Hammam, B. Dariush, and D. E. Orin, "Optimizing
Foot Centers of Pressure through Force Distribution in a Humanoid
Robot," International Journal of
Humanoid Robotics, vol. 10, no. 3, pp. 1350027-1 to 1350027-21,
September 2013.
-
P. M. Wensing, L. R. Palmer III, and D. E. Orin, "Efficient Recursive
Dynamics Algorithms for Operational-Space Control with Application to
Legged Locomotion," Autonomous Robots, vol. 38, no. 4,
pp. 363-381, April 2015.
-
G. Bin Hammam, P. M. Wensing, B. Dariush, and D. E. Orin,
"Kinodynamically Consistent Motion Retargeting for
Humanoids," International Journal of Humanoid Robotics,
vol. 12, no. 2, pp. 1550017-1 to 1550017-27, 2015.
-
P. M. Wensing and D. E. Orin, "Improved Computation of the Humanoid
Centroidal Dynamics and Application for Whole-Body Control,"
International Journal of
Humanoid Robotics, vol. 13, no. 1, pp. 1550039-1 to 1550039-23, 2016. (2016 IJHR Best Paper Award)
-
Y. Liu, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin,
"Terrain-Blind Humanoid Walking Based on a 3-D Actuated Dual-SLIP Model,"
IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1073-1080, 2016. (Presented at ICRA 2016 in Stockholm, Sweden)
Conference Papers
-
S. McMillan, P. Sadayappan, and D. E. Orin, "Efficient Dynamic Simulation
of Multiple Manipulator Systems with Singularities," in Proc. of IEEE
International Conference on Robotics and Automation, (Nice, France),
pp. 299-304, May 1992.
-
S. McMillan, P. Sadayappan, and D. E. Orin, "Parallel Methods for Dynamic
Simulation of Multiple Manipulator Systems," in 5th Annual NASA/NSF/DOD
Workshop on Aerospace Computational Control, (Santa Barbara, CA), August
1992.
-
K. Mirza, M. D. Hanes, and D. E. Orin, "Dynamic Simulation of Multiple-Contact
Power Grasp for Dexterous Hands," in Proc. of the Fourth International
Symposium on Robotics and Manufacturing (ISRAM '92), (Santa Fe, NM),
pp. 59-62, November 1992.
-
C. H. Chen, K. Mirza, and D. E. Orin, "Force Control of Planar Power Grasp
in the DIGITS System," in Proc. of the Fourth International Symposium
on Robotics and Manufacturing (ISRAM '92), (Santa Fe, NM), pp. 189-194,
November 1992.
-
K. Mirza, M. D. Hanes, and D. E. Orin, "Dynamic Simulation of Enveloping
Power Grasps," in Proc. of IEEE International Conference on Robotics
and Automation, vol. 2, (Atlanta, GA), pp. 430-435, May 1993.
-
H. C. Wong and D. E. Orin, "Dynamic Control of a Quadruped Standing Jump,"
in Proc. of IEEE International Conference on Robotics and Automation,
vol. 3, (Atlanta, GA), pp. 346-351, May 1993.
-
D. E. Orin, K. Mirza, and M. D. Hanes, "Enveloping Power Grasps with the
DIGITS System," in Video Proceedings of IEEE International Conference
on Robotics and Automation, (Atlanta, GA), May 1993.
-
H. C. Wong and D. E. Orin, "Quadruped Standing and Running Jumps," in Video
Proceedings of IEEE International Conference on Robotics and Automation,
(Atlanta, GA), May 1993.
-
K. Mirza and D. E. Orin, "General Formulation for Force Distribution in
Power Grasp," in Proc. of IEEE International Conference on Robotics
and Automation, vol. 1, (San Diego, CA), pp. 880-887, May 1994.
-
S. McMillan, D. E. Orin, and R. B. McGhee, "Efficient Dynamic Simulation
of an Unmanned Underwater Vehicle with a Manipulator," in Proc. of IEEE
International Conference on Robotics and Automation, vol. 2, (San Diego,
CA), pp. 1133-1140, May 1994.
-
M. D. Hanes, S. C. Ahalt, and D. E. Orin, "Intelligent Control of Object
Acquisition for Power Grasp," in Proc. of IEEE International Symposium
on Intelligent Control, (Columbus, OH), pp. 303-308, August 1994.
-
S. McMillan, D. E. Orin, and R. B. McGhee, "Object-Oriented Design of a
Dynamic Simulation for Underwater Robotic Vehicles," in Proc. of IEEE
International Conference on Robotics and Automation, vol. 2, (Nagoya,
Japan), pp. 1886-93, May 1995.
-
V. Dutt, D. E. Orin, P. Yang, and K. J. Waldron, "Control of a Motion Platform
for an AHS Driving Simulator," in Proc. of the Fourth National Applied
Mechanisms & Robotics Conference, vol. 2, (Cincinnati, OH), pp.
AMR 95-083-01 to -07, December 1995.
-
P. Yang, K. J. Waldron, V. Dutt, and D. E. Orin, "Design of a Three Degree-of-Freedom
Motion Platform for a Low-Cost Driving Simulator," in Proc. of the Fourth
National Applied Mechanisms & Robotics Conference, vol. 2, (Cincinnati,
OH), pp. AMR 95-080-01 to -05, December 1995.
-
M. D. Hanes, D. E. Orin, and S. C. Ahalt, "Fuzzy and Neural Network Control
of Object Acquisition for Power Grasp," in Proc. of SPIE Applications
and Science of Artificial Neural Networks II, (Orlando, FL), pp. 262-272,
April 1996.
-
D. W. Marhefka and D. E. Orin, "Simulation of Contact Using a Nonlinear
Damping Model," in Proc. of IEEE International Conference on Robotics
and Automation, vol. 2, (Minneapolis, MN), pp. 1662-68, April 1996.
-
P. Yang, K. J. Waldron, and D. E. Orin, "Kinematics of a Three Degree-Of-Freedom
Motion Platform for a Low-Cost Driving Simulator," in Recent Advances
in Robot Kinematics (J. Lenarcic and V. Parenti-Castelli, eds.), pp.
89-98, Boston: Kluwer Academic Publishers, 1996.
-
D. W. Marhefka and D. E. Orin, "Gait Planning for Energy Efficiency in
Walking Machines," in Proc. of IEEE International Conference on Robotics
and Automation, (Albuquerque, NM), pp. 474-480, April 1997.
-
P. Yang, D. E. Orin, and K. J. Waldron, "Dynamics of a Three Degree-of-Freedom
Motion Platform for a Low-Cost Driving Simulator," in Proc. of the Fifth
Applied Mechanisms & Robotics Conference, vol. 2, (Cincinnati,
OH), pp. AMR97-070-001 to -08, October 1997.
-
D. W. Marhefka and D. E. Orin, "Quadratic Optimization of Force Distribution
in Walking Machines," in Proc. of IEEE International Conference on Robotics
and Automation, (Leuven, Belgium), pp. 477-483, May 1998.
-
S. McMillan and D. E. Orin, "Forward Dynamics of Multilegged Vehicles Using
the Composite Rigid Body Method," in Proc. of IEEE International Conference
on Robotics and Automation, (Leuven, Belgium), pp. 464-470, May 1998.
-
M. H. Hung and D. E. Orin, "Force Distribution Equations for General Tree-Structured
Robotic Mechanisms with a Mobile Base," in Proc. of IEEE International
Conference on Robotics and Automation, (Detroit, MI), pp. 2711-2716,
May 1999.
-
C. A. Tenaglia, D. E. Orin, R. A. LaFarge, and C. Lewis, "Toward Development
of a Generalized Contact Algorithm for Polyhedral Objects," in Proc.
of IEEE International Conference on Robotics and Automation, (Detroit,
MI), pp. 2887-2892, May 1999.
-
E. Y. Raby and D. E. Orin, "Passive Walking with Leg Compliance for Energy
Efficient Multilegged Vehicles," in Proc. of IEEE International Conference
on Robotics and Automation, (Detroit, MI), pp. 1702-1707, May 1999.
-
F. T. Cheng, H. L. Lee, and D. E. Orin, "Increasing the Locomotive Stability
Margin of Multilegged Vehicles," in Proc. of IEEE International Conference
on Robotics and Automation, (Detroit, MI), pp. 1708-1714, May 1999.
-
J. P. Schmiedeler, K. J. Waldron, D.W. Marhefka, and D. E. Orin, "Design
of Compliant Articulated Limbs for a Quadrupedal Galloping Machine," in
Proc. of Sixth Applied Mechanisms and Robotics Conference, (Cincinnati,
OH), December 1999.
-
D. W. Marhefka and D. E. Orin, "Fuzzy Control of Quadrupedal Running,"
in Proc. of IEEE International Conference
on Robotics and Automation, (San Francisco, CA), pp. 3063-3069, April 2000.
-
R. Featherstone and D. E. Orin, "Robot Dynamics: Equations and Algorithms,"
in Proc. of IEEE International Conference
on Robotics and Automation, (San Francisco, CA), pp. 826-834, April 2000.
-
J. P. Schmiedeler, D. W. Marhefka, D. E. Orin, and K. J. Waldron, "A
Study of Quadruped Gallops,"
in Proc. of 2001 NSF Design, Service, and Manufacturing Grantees and Research
Conference, (Tampa, FL), January 2001.
-
M. H. Hung and D. E. Orin, "Dynamic Simulation of Actively-Coordinated
Wheeled Vehicle Systems on Uneven Terrain,"
in Proc. of IEEE International
Conference on Robotics and Automation, (Seoul, Korea), pp. 779-786,
May 2001.
-
D. P. Krasny and D. E. Orin, "Achieving Periodic Leg Trajectories to
Evolve a Quadruped Gallop,"
in Proc. of IEEE International Conference
on Robotics and Automation, (Taipei, Taiwan), pp. 3842-3848, September 2003.
-
L. R. Palmer, D. E. Orin, D. W. Marhefka, J. P. Schmiedeler, and
K. J. Waldron, "Intelligent Control of an Experimental
Articulated Leg for a Galloping Machine,"
in Proc. of IEEE International Conference
on Robotics and Automation, (Taipei, Taiwan), pp. 3821-3827, September 2003.
-
W. Hu, D. W. Marhefka, D. P. Krasny, and D. E. Orin, "Using Hybrid
Simulation for a Quadruped Standing Leap,"
Proc. of 5th World Congress on Intelligent Control and
Automation, (Hangzhou, China), pp. 4603-4608, June 2004.
-
D. P. Krasny and D. E. Orin, "A 3D Galloping Quadruped Robot,"
8th International Conference on Climbing and Walking Robots (CLAWAR
2005), (London, U.K.), pp. 467-474, September 2005.
-
L. R. Palmer and D. E. Orin, "Control of a 3D Quadruped Trot,"
8th International Conference on Climbing and Walking Robots (CLAWAR
2005), (London, U.K.), pp. 165-172, September 2005.
-
D. P. Krasny and D. E. Orin, "Dynamic Maneuvers in a 3D Galloping
Quadruped Robot (Video),"
in Video Proc. of IEEE International Conference
on Robotics and Automation, (Orlando, Florida), May 2006.
-
D. P. Krasny and D. E. Orin, "Dynamic Maneuvers in a 3D Galloping Quadruped Robot,"
in Proc. of IEEE International Conference
on Robotics and Automation, (Orlando, Florida), pp. 4291-4293, May 2006.
-
D. P. Krasny and D. E. Orin, "Evolution of Dynamic Maneuvers in a 3D
Galloping Quadruped Robot,"
in Proc. of IEEE International Conference
on Robotics and Automation, (Orlando, Florida), pp. 1084-1089, May 2006.
-
L. R. Palmer III and D. E. Orin, "Attitude Control of a Quadruped Trot
While Turning," in Proc. of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
2006), (Beijing, China), pp. 5743-5749, October 2006.
-
L. R. Palmer III and D. E. Orin, "Force Redistribution in a Quadruped
Running Trot,"
in Proc. of IEEE International Conference
on Robotics and Automation, (Rome, Italy), pp. 4343-4348, April 2007.
-
L. R. Palmer III and D. E. Orin, "Quadrupedal Running at High Speed
Over Uneven Terrain," in Proc. of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
2007), (San Diego, California), pp. 303-308, October/November 2007.
-
S. Curran and D. E. Orin, "Evolution of a Jump in an Articulated Leg with Series-Elastic Actuation,"
in Proc. of IEEE International Conference
on Robotics and Automation, (Pasadena, CA), pp. 352-358, May 2008.
-
D. E. Orin and A. Goswami, "Centroidal Momentum Matrix of a Humanoid
Robot: Structure and Properties," in Proc. of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
2008), (Nice, France), pp. 653-659, September 2008.
-
S. Curran, D. E. Orin, B. T. Knox, and J. P. Schmiedeler, "Analysis
and Optimization of a Series-Elastic Actuator for Jumping in Robots
with Articulated Legs,"
in Proc. of 2008 ASME Dynamic Systems and Control
Conference (DSCC 2008), (Ann Arbor, Michigan), paper DSCC2008-2142 (8 pages), October 2008.
-
G. Bin Hammam, D. E. Orin, and B. Dariush, "Whole-Body Humanoid Control from Upper-Body Task
Specifications,"
in Proc. of IEEE International Conference
on Robotics and Automation, (Anchorage, Alaska), pp. 3398-3405, May 2010.
-
M. Hester, J. P. Schmiedeler, P. M. Wensing, and D. E. Orin "Fuzzy Control
of Vertical Jumping with a Planar Biped," in Proc. of ASME 2010 International
Design Engineering Technical Conferences, (Montreal, Canada), paper
DETC2010-28857 (9 pages), August 2010.
-
B. Dariush, G. Bin Hammam, and D. E. Orin, "Constrained Resolved Acceleration
Control for Humanoids," in Proc. of IEEE/RSJ International
Conference on Intelligent Robots and Systems, (Taipei, Taiwan),
pp. 710-717, October 2010.
-
Y. Liu, P. M. Wensing, D. E. Orin, and J. P. Schmiedeler, "Fuzzy Controlled Hopping
in a Biped Robot," Proc. of IEEE International Conference
on Robotics and Automation, (Shanghai, China), pp. 1982-1989, May 2011.
-
P. Wensing, R. Featherstone, and D. E. Orin, "A Reduced-Order Recursive Algorithm for the Computation of the
Operational-Space Inertia Matrix," Proc. of IEEE International Conference
on Robotics and Automation, (St. Paul, Minnesota), pp. 4911-4917, May 2012.
-
Y. F. Zheng, H. Wang, S. Li, Y. Liu, D. Orin, K. Sohn, Y. Jun, and P. Oh, "Humanoid Robots Walking on Grass, Sand and Rocks,"
Proc. of IEEE International Conference on Technologies for Practical Robot Applications (TePRA), pp. 1-6, April 2013.
-
P. M. Wensing and D. E. Orin, "Generation of Dynamic Humanoid
Behaviors Through Task-Space Control with Conic Optimization,"
Proc. of IEEE International Conference
on Robotics and Automation, (Karlsruhe, Germany), pp. 3103-3109, May 2013.
-
P. M. Wensing and D. E. Orin, "High-Speed Humanoid Running Through
Control with a 3D-SLIP Model,"
Proc. of IEEE/RSJ International Conference
on Intelligent Robots and Systems, (Tokyo, Japan), pp. 5134-5140, November 2013.
-
P. M. Wensing and D. E. Orin, "Development of High-Span Running Long
Jumps for Humanoids,"
Proc. of IEEE International Conference on Robotics and
Automation, (Hong Kong, China), pp. 222-227, May/June 2014.
-
P. M. Wensing and D. E. Orin, "3D-SLIP Steering for High-Speed
Humanoid Turns,"
Proc. of IEEE/RSJ International Conference
on Intelligent Robots and Systems, (Chicago, Illinois), pp. 4008-4013, September 2014.
-
Y. Liu, P. M. Wensing, D. E. Orin, and Y. F. Zheng, "Dynamic Walking
in a Humanoid Robot Based on a 3D Actuated Dual-SLIP Model,"
Proc. of IEEE International Conference on Robotics and
Automation, (Seattle, Washington), pp. 5710-5717, May 2015.
-
Y. Liu, P. M. Wensing, D. E. Orin, and Y. F. Zheng, "Trajectory
Generation for Dynamic Walking in a Humanoid over Uneven Terrain Using
a 3D-Actuated Dual-SLIP Model,"
Proc. of IEEE/RSJ International Conference on Intelligent Robots
and Systems, (Hamburg, Germany), pp. 374-380, Sept/Oct 2015.
Patents
-
U.S. Patent #8,924,015: G. Bin Hammam, D. E. Orin, and B. Dariush,
"Whole-body humanoid control from upper-body task specifications,"
December 30, 2014.
Last Updated