Bipedal Walking Publications

Jerry Pratt, Twan Koolen, Tomas De Boer, John Rebula, Sebastien Cotton, John Carff, Matthew Johnson, and Peter Neuhaus, Capturability-Based Analysis and Control of Legged Locomotion, Part 2: Application to M2V2, a Lower-Body Humanoid, International Journal of Robotics Research, September 2012.

Twan Koolen, Tomas De Boer, John Rebula, Ambarish Goswami, and Jerry E. Pratt, Capturability-Based Analysis and Control of Legged Locomotion. Part 1: Theory and Application to Three Simple Gait Models, International Journal of Robotics Research, August 2012.

Jerry E. Pratt, Peter Neuhaus, Matthew Johnson, John Carff, Ben Krupp, Towards Humanoid Robots for Operations in Complex Urban Environments, Proceedings of the 2010 SPIE.

Jerry Pratt, Ben Krupp, Design of a bipedal walking robot, Proceedings of the 2008 SPIE, Volume 6962, 69621F

John Rebula, Fabian Canas, Jerry Pratt, Ambarish Goswami, Learning Capture Points for Humanoid Push Recovery, Proceedings of the 2007 IEEE-RAS International Conference on Humanoid Robots, November 29-December 1, 2006, Pittsburgh, Pennsylvania.

Jerry Pratt, Sergey Drakunov, 2007. Derivation and Application of a Conserved Orbital Energy for the Inverted Pendulum Bipedal Walking Model. Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA '07), Rome, Italy, pp. 4653-4660. (Please note that there is a typo. The x_dot_0 in the RHS of Equations 48 and 51 should be squared. Thanks to Martin Andrews for pointing out this error.)

Jerry Pratt, John Carff, Sergey Drakunov, and Ambarish Goswami, 2006. Capture Point: A Step toward Humanoid Push Recovery. Proceedings of the 2006 IEEE-RAS International Conference on Humanoid Robots, December 4-6, 2006, Genoa, Italy, pp. 200-207.

Jerry E. Pratt and Russ Tedrake, 2006. Velocity Based Stability Margins for Fast Bipedal Walking, Presented at the First Ruperto Carola Symposium in the International Science Forum of the University of Heidelberg entitled "Fast Motions in Biomechanics and Robots", September 7-9, 2005, Heidelberg Germany.

D. J. Paluska and J. E. Pratt, 2003. Bipedal Walking Robots in Biomimetic Robotics, Brezeal, C. and Yoseph Bar-Cohen, Ed., SPIE Press, 228-252.

Jerry Pratt. 2002. Bipedal Walking Robots: Advancing the Science through Killer Applications, Replication and Validation, Standards and Common Platforms, and Competition. Proceedings of the 2002 FIRA Robot World Congress, Seoul, Korea, May 26-29, 2002. pp. 111-114.

Jerry E. Pratt, Chee-Meng Chew, Ann Torres, Peter Dilworth, Gill Pratt, 2001. Virtual Model Control: An Intuitive Approach for Bipedal Locomotion. International Journal of Robotics Research, 20:(2), 129-143.

Chee-Meng Chew, Jerry E. Pratt, Gill A. Pratt. 1999. Blind Walking of a Planar Bipedal Robot on Sloped Terrain. Proceedings of IEEE International Conference on Robotics and Automation (ICRA ’99), Detroit, Michigan.

Pratt, Jerry 2000. Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots.  Ph.D. Thesis, Computer Science Department, Massachusetts Institute of Technology, Cambridge, Massachusetts, 2000

Pratt, Jerry, Pratt, Gill 1999. Exploiting Natural Dynamics in the Control of a 3D Bipedal Walking SimulationProceedings of the International Conference on Climbing and Walking Robots (CLAWAR99), Portsmouth, UK, September 1999

Pratt, J., Pratt, G. 1998. Exploiting Natural Dynamics in the Control of a Planar Bipedal Walking Robot. Proceedings of the Thirty-Sixth Annual Allerton Conference on Communication, Control, and Computing, Monticello, IL, September 1998.

Pratt, J., Pratt, G. 1998. Intuitive Control of a Planar Bipedal Walking Robot Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '98), Leuven, Belgium 1998.

Pratt, J., Dilworth, P., Pratt, G. 1997. Virtual Model Control of a Bipedal Walking Robot Proceedings of the IEEE International Conference on Robotics and Automations (ICRA '97), Albuquerque, NM.  1997.

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.

Pratt, J., Torres, A., Dilworth, P., Pratt, G. 1996. Virtual Actuator Control Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '96), Osaka, Japan.

Pratt, Williamson, Dilworth, Pratt, Ulland, Wright 1995. Stiffness Isn't Everything Proceedings of ISER '95, Stanford CA.

Coactive Design Publications

John Carff, Matthew Johnson, Eman M. El-Sheikh, and Jerry E. Pratt, 2009, Human-Robot Team Navigation in Visually Complex Environments, Proceedings of the 2009IEEE International Conference on Intelligent Robots and Systems (IROS '09), St. Louis, MO.

Exoskeleton Publications

Peter D. Neuhaus, Jerryll H. Noorden, Travis J. Craig, Tecalote Torres, Justin Kirschbaum, Jerry E. Pratt, Design and Evaluation of Mina a Robotic Orthosis for Paraplegics, Proceedings of the 2011 International Conference on Rehabilitation Robotics (ICORR 2011), Zurich, Switzerland.

Hian Kai Kwa, Jerryll H. Noorden, Matthew Missel, Travis Craig, Jerry E. Pratt, Peter D. Neuhaus, Development of the IHMC Mobility Assist Exoskeleton, Proceedings of the 2009 IEEE International Conference on Robotics and Automation, (ICRA '09), Kobe, Japan.

Peter D. Neuhaus, Michael O'Sullivan, David Eaton, John Carff, and Jerry E. Pratt, 2004. Concept Designs for Underwater Swimming Exoskeletons. Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), New Orleans, LA, 4893-4898.

FastRunner Publications

Sebastien Cotton, Ionut Olaru, Matthew Bellman, Tim van der Ven, Johnny Godowski, and Jerry Pratt, FastRunner: A Fast, Efficient and Robust Bipedal Robot, Concept and Planar Simulation, Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota.

Learning Locomotion Publications

Peter D. Neuhaus, Jerry E. Pratt, and Matthew J. Johnson, Comprehensive summary of the Institute for Human and Machine Cognition's experience with LittleDog, The International Journal Of Robotics Research, vol. 30, no. 2, pp. 216-235, February 2011.

John Rebula, Peter Neuhaus, Brian Bonnlander, Matthew Johnson, Jerry Pratt, A Controller for the LittleDog Quadruped Walking on Rough Terrain, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, (ICRA '07), Rome, Italy, pp. 1467-1473.

Monoped Publications

Benjamin T. Krupp, Jerry E. Pratt, A power autonomous monopedal robot, Proceedings of the 2006 SPIE, Volume 6201, 620112

RoboKnee Publications

Jerry E. Pratt, Benjamin T. Krupp, Christopher J. Morse, and Steven H. Collins, 2004. The RoboKnee: An Exoskeleton for Enhancing Strength and Endurance During Walking. Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), New Orleans, LA, 2430-2435.

Series Elastic Actuator Publications

Jerry E. Pratt and Benjamin T. Krupp, 2004. Series Elastic Actuators for Legged Robots. Proceedings of the 2004 SPIE.

Jerry Pratt, Ben Krupp, and Chris Morse, 2002. Series elastic actuators for high fidelity force control. Industrial Robot Journal, Vol. 29, No. 3, pp. 234-241

David W. Robinson, Jerry E. Pratt, Daniel J. Paluska, Gill A. Pratt. 1999. Series Elastic Actuator Development for a Biomimetic Walking Robot. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Sept. 19-22, 1999. Atlanta, GA.