Topics:
*** indicates "classic, must read"
+++ indicates "new interesting stuff"


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Understanding Task, Mechanics

- biomechanics
  *** McMahon paper or book chapter
  *** Pandy and Anderson

- passive dynamic walking
  *** McGeer
  simplest (compass w/ point feet)
  extended feet
  knees
  body
  3D
  role of double support

- powered passive dynamic walking

- actuators and compliance
  - muscle
  - M2

- non anthropomorphic designs

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Existing systems

- bipeds
  ZMP-based: Honda, Sony, HRP-2, H7, ...
  Raibert
  Pratt - virtual control

- quadrupeds
  AIBO

- hexapods
  Rhex

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Control Design

- manual approaches
  Hodgins walk-run paper

- control using dynamic systems
  Kimura

- nonlinear control design
  Hopping robot controller papers series
  Grizzle, UMich

- "understanding dynamics
  abstraction/simplification

- trajectory optimization
  understanding human gait as well as generating robot gait
  *** Pandy and Anderson

- policy optimization
  simulated annealing
  evolutionary approaches (graphics, robotics, ...)
  policy search in machine learning, including derivative based.

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Robust Control and Disturbances

- How design a robust controller (wrt initial states, disturbances,
and modeling error)?

- How handle wide range of activities (sit, stand, avoid obstacles,
stepping stones, carry loads, ...)

- How handle wide range of disturbances (slip, trip, stumble;
respond with continuous response, recovery step(s), using arms or
grabbing support, safe fall)
  Hodgins paper(s)
  Ukemi paper

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Measurement

- how deal with measurement problem
  state estimation
  reduced order controllers

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Planning for Dynamic Behaviors

- Extending ZMP approach
  filters

- Kuffner stuff

- data driven behavior
  style

- templates (Koditschek)

- rough terrain

- coordinating lower and upper body
  pick up, carry, move, put down
  grab for support
  wave arms to assist balance

- coordinating behaviors
  soccer (kick and run)

- gait transitions, supporting multiple gaits
  kinematics
  mechanism

- autonomy

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Intermittent Control Not Involving Legs

- snake locomotion

- juggling/manipulation

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Other topics

- scaling

- fall prediction and balance assessment in humans

- learning?

- dancing

- graphical characters
  interactive
  non-interactive
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