Publications of the Leg Laboratory

Papers

• Brown, H. B. Jr., Raibert M. H. 1986. Leg that deform elastically, In Theory and Practice of Robots and Manipulators, Proceedings of RoManSy'86, A. Morecki, G. Bianchi, K. Kedzior (eds.) (MIT Press, Cambridge).
• Goldberg, K. Y., Raibert, M. H. 1987. Conditions for symmetric running in single and double support. Proceedings of IEEE International Symposium on Robotics, Raleigh, North Carolina.
• He, J., Kram, R., McMahon, T., 1991. Mechanics of running under simulated low gravity., J. Applied Phsiology, 71(3):863-870.
• He, J., Raibert, M. H. 1990. Behaviors of a simulated 3D biped. In Theory and Practice of Robots and Manipulators, Proceedings of RoManSy'90, A. Morecki, G. Bianchi, K. Kedzior (eds.).
• Hodgins, J. 1988. Legged robots on rough terrain: experiments in adjusting step length. In Proceedings of the IEEE International Conference on Robotics and Automation Philadelphia, March 1988.
• Hodgins, J. 1989. Legged Robots on Rough Terrain: Experiments in Adjusting Step Length. Ph.D Thesis, Computer Science, Carnegie Mellon University, Pittsburgh, Pennsylvania.
• Hodgins, J. 1991, Biped gait transitions. In Proceedings of the IEEE International Conference on Robotics and Automation Sacramento.
• Hodgins, J., Raibert, M. H. 1987. Planar Biped Goes Head Over Heels. In Proceedings ASME Winter Annual Meeting Boston, December, 1987.
• Hodgins, J., Raibert, M. H. 1987. Biped Gymnastics, In Fourth International Symposium of Robotics Research, B. Bolles, B. Roth (eds.), (MIT Press, Cambridge).
• Hodgins, J., Raibert, M. H. 1990. Biped gymnastics, International J. Robotics Research, 9:(2) 115--132.
• Hodgins, J., Raibert, M. H., 1991. Adjusting step length for rough terrain locomotion, IEEE J. Robotics and Automation.
• Hodgins, J., Koechling, J., Raibert, M. H. 1986. Running experiments with a planar biped. Third International Symposium on Robotics Research, G. Giralt, M. Ghallab (eds.). (MIT Press, Cambridge).
• Hodgins, J., Koechling, J., Raibert, M. H. 1991. Running Experiments with a Planar Biped, CMU Computer Science 25th Anniversary, Addison-Wesley: New York.
• Homsy, G.E., Allen, A.R., Pratt, G.A. The Recti-Blob: A conformal shape-changing robot for robust locomotion over rough terrain Unpublished as of 10/23/97
• Koechling, J. and Raibert, M. 1988. How fast can a legged robot run? In: Symposium in Robotics, DSC-Vol.1, K. Youcef-Toumi, H. Kazerooni (eds.). (American Society of Mechanical Engineers, New York). Lee, W., Raibert, M. H., 1991. Control of hoof rolling in an articulated leg. IEEE Robotics and Automation Conference, Sacramento.
• Murphy, K. N., Raibert, M. H. 1985. Trotting and bounding in a planar two-legged model. In Theory and Practice of Robots and Manipulators, Proceedings of RoManSy'84, A. Morecki, G. Bianchi, K. Kedzior (eds.). (MIT Press, Cambridge), 411--420.
• Murthy, S. S., Raibert, M. H. 1983. 3D balance in legged locomotion: modeling and simulation for the one-legged case. In Inter-Disciplinary Workshop on Motion: Representation and Perception, ACM.
• Playter, R. R., Raibert, M. H. 1992. Generation of a somersault by a 3D biped robot. IFAC '92, Japan.
• Playter, R. R., Raibert, M. H. 1992. Control of a biped somersault in 3D. Proceedings of IROS '92, Raliegh, N.C.
• Playter, R. R., Raibert, M. H. 1994. Passively Stable Layout Somersaults. Canadian Society For Biomechanics, Proceedings of Eight Biennial Conference and Symposium the, Calgary, Alberta, Canada.
• Playter, R. R., Raibert, M. H., 1994. Passively Stable Layout Somersaults. Eighth Yale Workshop on Adaptive and Learning Systems, June 13-15, 1994, New Haven, CT. USA 66-71.
• Pratt, J., Pratt, G. 1998. Intuitive Control of a Planar Bipedal Walking Robot submitted to ICRA '98.
• Pratt, J., Dilworth, P., Pratt, G. 1997. Virtual Model Control of a Bipedal Walking Robot Preceedings of ICRA '97, Albuquerque, NM.
• Pratt, J., Torres, A., Dilworth, P., Pratt, G. 1996. Virtual Actuator Control Preceedings of IROS '96, Osaka, Japan.
• Pratt, G., Williamson, M. 1995. Series Elastic Actuators Proceedings of IROS '95, Pittsburgh, PA.
• Pratt, Williamson, Dillworth, Pratt, Ulland, Wright 1995. Stiffness Isn't Everything Proceedings of ISER '95, Stanford CA.
• Raibert, M. H. 1983. Dynamic stability and resonance in a one-legged hopping machine. In Theory and Practice of Robots and Manipulators, Proceedings of RoManSy'81, A. Morecki, G. Bianchi, K. Kedzior (eds.). Warsaw: Polish Scientific Publishers. 352--367.
• Raibert, M. H. 1984. Hopping in legged systems---Modeling and simulation for the 2D one-legged case. IEEE Trans. Systems, Man, and Cybernetics 14:451--463.
• Raibert, M. H., (Ed.) 1984. Special Issue on Legged Locomotion, International Journal of Robotics Research, 3:2.
• Raibert, M. H. 1985. Four-legged running with one-legged algorithms. In Second International Symposium on Robotics Research, H. Hanafusa, H. Inoue (eds.), (MIT Press, Cambridge), 311--315.
• Raibert, M. H. 1986. Symmetry in running. Science, 231:1292--1294.
• Raibert, M. H. 1986. Legged robots. Communications of the ACM 29:499--514.
• Raibert, M. H. 1986. Running with symmetry. International Journal of Robotics Research 5:3--19. Also reprinted in Autonomous Robot Vehicles, 1990, I.J. Cox, G.T. Wilfong (Eds.) (Springer-Verlag, New York).
• Raibert, M. H., 1991. Trotting, pacing, and bounding by a quadruped robot, Journal of Biomechanics.
• Raibert, M. H., Brown, H. B., Jr. 1984. Experiments in balance with a 2D one-legged hopping machine. ASME J. Dynamic Systems, Measurement, and Control 106:75--81.
• Raibert, M. H., Hodgins, J., 1991. Animation of dynamic legged locomotion SIGGRAPH `91, Las Vegas, 25:4, 349--358.
• Raibert, M. H., Hodgins, J., Playter, R. R., Ringrose, R. P. 1992. Animation of maneuvers: jumps, somersaults, and gait transitions. Imagina, Monte Carlo.
• Raibert, M.H., Hodgins, J.K., Playter, R.R., Ringrose, R.P. 1993. Animation of legged maneuvers: jumps, somersaults, and gait transitions. In Journal of the Robotics Society of Japan, 11(3):333--341.
• Raibert, M. H., Sutherland, I. E. 1983. Machines that walk. Scientific American 248:44--53.
• Raibert, M. H., Wimberly, F. C. 1984. Tabular control of balance in a dynamic legged system. IEEE Trans. Systems, Man, and Cybernetics 14:334--339.
• Raibert, M. H., Brown, H. B., Jr., Murthy, S. S. 1984. 3D balance using 2D algorithms? In First International Symposium of Robotics Research, M. Brady, R. P. Paul (eds.), (MIT Press, Cambridge), 279--301. Also in Robotics and Artificial Intelligence, M. Brady, L. A. Gerhardt, H. F. Davidson, (Eds.) (Springer-Verlag, New York), 1984.
• Raibert, M. H., Brown, H. B., Jr., Chepponis, M. 1984. Experiments in balance with a 3D one-legged hopping machine. International J. Robotics Research 3:75--92.
• Raibert, M. H., Chepponis, M., Brown, H. B. Jr. 1986. Running on four legs as though they were one. IEEE J. Robotics and Automation, 2:70--82.
• Raibert, M. H., Hodgins, J., Playter, R. R., Ringrose, R. P. 1992. Animation of maneuvers: jumps, somersaults, and gait transitions. Imagina, Monte Carlo.
• Raibert, M. H., Brown, H. B., Jr., Chepponis, M., Hastings, E., Shreve, S. T., Wimberly, F. C. 1981. Dynamically Stable Legged Locomotion, First Annual Report. CMU--RI--81--9, Robotics Institute, Carnegie-Mellon University.
• Raibert, M. H., Brown, H. B., Jr., Chepponis, M., Hastings, E., Murthy, S. S., Wimberly, F. C. 1983. Dynamically Stable Legged Locomotion--Second Annual Report. CMU--RI--TR--83--1, Robotics Institute, Carnegie-Mellon University.
• Raibert, M. H., Brown, H. B. Jr., Chepponis, M., Hastings, E., Koechling, J., Murphy, K. N., Murthy, S. S., Stentz, A. 1983. Dynamically Stable Legged Locomotion---Third Annual Report. CMU--RI--TR--83--20, Robotics Institute, Carnegie-Mellon University.
• Raibert, M. H., Brown, H. B., Jr., Chepponis, M., Hodgins, J., Koechling, J., Miller, J., Murphy, K. N., Murthy, S. S., Stentz, A. J. 1985. Dynamically Stable Legged Locomotion---Fourth Annual Report. CMU--LL--4--1985, Carnegie-Mellon University.
• Ringrose, R. 1994. Automatically Tuning Control Systems for Simulated Legged Robots. Proceedings of AAAI'94, Seattle.
• Ringrose, R. 1997. Self-Stabilizing Running. Proceedings of ICRA'97, Albuquerque.
• Thompson, C. M., Raibert, M. H., 1989. Passive dynamic running, In International Symposium of Experimental Robotics, Hayward, V., Khatib, O. (eds.), (Springer-Verlag, New York).

Books

• Raibert, M. H. 1986. Legged Robots That Balance (MIT Press, Cambridge).
• Raibert, M. H., 1989. Legged Robots, Chapter in Robotics Science M. Brady (ed.), (MIT Press, Cambridge).
• Raibert, M. H., Hodgins, J. K. 1992. Robots, Legged. In Encyclopedia of Artificial Intelligence. S. C. Shapiro (ed.). (Wiley: New York). 1399--1409.

Theses

• Bailey, D. W. Transfer of Support in a Dynamic Walking Robot , M.S. Thesis, M.I.T. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1995. [Postscript, 1.8Mb]
• Borvansky, L. Dynamic Simulation of the Running Motion of an Ostrich, MS Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1991.
• Hodgins J. 1989. Legged Robots on Rough Terrain: Experiments in Adjusting Step Length. Ph.D Thesis, Computer Science, Carnegie Mellon University, Pittsburgh, Pennsylvania.
• Koechling, J. The Limits of Running Speed: Experiments with a Legged Robot. Ph.D Thesis, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, 1989.
• Leeser, K. Locomotion Experiments on a Planar Quadruped Robot with Articulated Spine. M.S. Thesis, M.I.T. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1996.
• Matteo, B., The Design of an Elastic Element for a Modular Series Elastic Actuator. (Readable using GSview on a PC), B.S. Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1997.
• Murphy, K., Trotting and bounding in a planar two-legged model. M.S. Thesis, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, 1985.
• Playter, R. R. Passive Dynamics in the Control of Gymnastic Maneuvers , Ph.D Thesis, Department of Aeronautical and Astronautical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1994. [Zipped Postscript, 5.1Mb]
• Pratt, J. Virtual Model Control of a Biped Walking Robot , M.Eng. Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1995. [Zipped Postscript, 1.5Mb]
• Ringrose, R. Simulated Creatures: Adapting Control for Variations in Model or Desired Behavior. MS Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1992. [Compressed postscript, 260K compressed, 800K uncompressed]
• Ringrose, R. Self-Stabilizing Running. PhD Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1996. [Compressed postscript, 3Mb compressed, 50Mb uncompressed]
• Torres, A. L. Virtual Model Control of a Hexapod Walking Robot , SB Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1996. [Postscript, 2Mb]
• Wren, C. Physics-Based Computer Simulation of Tree Blowing in the Wind SB Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1992.
• Zeglund, G. J. Uniroo: A One-Legged Dynamic Hopping Robot. BS Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1991.

Videos

• Raibert, M. H., (Ed.) 1984. Walking Machine Video, Videotape appendix to Special Issue on Legged Locomotion, International Journal of Robotics Research, (MIT Press: Cambridge Mass.)
• Raibert, M. H. 1986. Machines That Run (Videotape), (MIT Press: Cambridge Mass.)
• Raibert, M. H., Hodgins, J., Ringrose, R., Playter, R., Borvansky, L., Campbell, L., Evans, D., Crane, C.A., Lamb, M. 1991. ``On The Run'', {SIGGRAPH `91 Electronic Theater Las Vegas.
  Also shown at Los Angeles International Animation Celebration, October 1991.
  Also shown at the London Computer Animation Festival, October 1991.
  Also shown at Imagina, Monte Carlo, January 1992.
  

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