Low-bandwidth reflex-based control for lower power walking: 65 km on a single battery charge PA Bhounsule, J Cortell, A Grewal, B Hendriksen, JGD Karssen, C Paul, ... The International Journal of Robotics Research 33 (10), 1305-1321, 2014 | 170 | 2014 |
Design and control of Ranger: an energy-efficient, dynamic walking robot PA Bhounsule, J Cortell, A Ruina Proc. Climbing and Walking Robots, 441-448, 2012 | 113 | 2012 |
A controller design framework for bipedal robots: trajectory optimization and event-based stabilization P Bhounsule | 27 | 2012 |
Control of a compass gait walker based on energy regulation using ankle push-off and foot placement PA Bhounsule Robotica 33 (6), 1314-1324, 2015 | 21 | 2015 |
Discrete-Decision Continuous-Actuation control: balance of an inverted pendulum and pumping a pendulum swing PA Bhounsule, A Ruina, G Stiesberg Journal of Dynamic Systems, Measurement, and Control 137 (5), 9, 2014 | 16 | 2014 |
Switching between limit cycles in a model of running using exponentially stabilizing discrete control lyapunov function PA Bhounsule, A Zamani, J Pusey 2018 Annual American Control Conference (ACC), 3714-3719, 2018 | 13 | 2018 |
Control synergies for rapid stabilization and enlarged region of attraction for a model of hopping A Zamani, PA Bhounsule Biomimetics 3 (3), 25, 2018 | 12 | 2018 |
A discrete control lyapunov function for exponential orbital stabilization of the simplest walker PA Bhounsule, A Zamani Journal of Mechanisms and Robotics 9 (5), 2017 | 12 | 2017 |
Stable bipedal walking with a swing-leg protraction strategy PA Bhounsule, A Zamani Journal of Biomechanics 51, 123--127, 0 | 12* | |
Cornell ranger: energy-optimal control P Bhounsule, A Ruina Dynamic walking, 2009 | 11 | 2009 |
Foot placement and ankle push-off control for the orbital stabilization of bipedal robots A Zamani, PA Bhounsule 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017 | 10 | 2017 |
Dead-beat control of walking for a torso-actuated rimless wheel using an event-based, discrete, linear controller PA Bhounsule, E Ameperosa, S Miller, K Seay, R Ulep ASME International Design Engineering & Technical Conference, 2016 | 9 | 2016 |
Foot placement in the simplest slope walker reveals a wide range of walking solutions PA Bhounsule IEEE Transactions on Robotics 30 (5), 1255-1260, 2014 | 8 | 2014 |
An inchworm-inspired robot based on modular body, electronics and passive friction pads performing the two-anchor crawl gait F Moreira, A Abundis, M Aguirre, J Castillo, PA Bhounsule Journal of Bionic Engineering 15 (5), 820-826, 2018 | 7 | 2018 |
A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control J Krause, P Bhounsule Actuators 7 (2), 24, 2018 | 7 | 2018 |
Cornell ranger: Implementing energy-optimal trajectory control using low information, reflex-based control P Bhounsule, J Cortell, A Ruina Dyn Walk. Pensacola, 2012 | 7 | 2012 |
Numerical accuracy of two benchmark models of walking: the rimless spoked wheel and the simplest walker PA Bhounsule Discrete and Impulsive Systems Series B: Applications and Algorithms 21, 137 …, 2014 | 6 | 2014 |
Control policies for a large region of attraction for dynamically balancing legged robots: a sampling-based approach PA Bhounsule, A Zamani, J Krause, S Farra, J Pusey Robotica, 1-16, 2018 | 5 | 2018 |
Control based on passive dynamic walking PA Bhounsule, MA Sharbafi, A Seyfarth Bioinspired Legged Locomotion: Models, Concepts, Control and Applications 6 …, 2017 | 5 | 2017 |
Feedback motion planning of legged robots by composing orbital Lyapunov functions using rapidly-exploring random trees A Zamani, JD Galloway, PA Bhounsule 2019 International Conference on Robotics and Automation (ICRA), 1410-1416, 2019 | 4 | 2019 |