Theses

Essentials of dynamic walking; analysis and design of two-legged robots
M. Wisse, 2004. PDF (4.6 Mb)

 

Bipedal walking with active springs; gait synthesis and prototype design
R.Q. van der Linde, 2001.

 

Book Chapters

Design and Construction of MIKE; a 2D autonomous biped based on passive dynamic walking
M. Wisse, J. van Frankenhuyzen, in “Adaptive Motion of Animals and Machines”, edited by H. Kimura and K. Tsuchiya, 2006, Springer-Verlag, Tokyo. ISBN-10 4-431-24164-7.

 

Dynamic stability of a simple biped walking system with swing leg retraction
M. Wisse, C. G. Atkeson, D. K. Kloimwieder, in “Fast Motions in Biomechanics and Robotics”, edited by M. Diehl and K. Mombaur, 2006, Springer-Verlag Berlin Heidelberg. ISBN-10 3-540-36118-9.

 

Journal Papers

Adding an Upper Body to Passive Dynamic Walking Robots by Means of a Bisecting Hip Mechanism
M. Wisse, D. G. E. Hobbelen, A. L. Schwab, IEEE Transactions on Robotics, in press.

 

Three additions to passive dynamic walking: actuation, an upper body, and 3D stability
M. Wisse, International Journal of Humanoid Robotics (2005), V2(4), p.p.: 459-478.

 

Efficient bipedal robots based on passive-dynamic walkers
S. H. Collins, A. Ruina, R. L. Tedrake, M. Wisse, Science (18 February 2005), V307, p.p.: 1082-1085.

 

Skateboards, bicycles, and 3D biped walking machines; Velocity dependent stability by means of lean-to-yaw coupling
M. Wisse, A. L. Schwab, International Journal on Robotics Research (2005), V24(6) p.p.: 417-429.

 

How to keep from falling forward; elementary swing leg action for passive dynamic walkers
M. Wisse, A. L. Schwab, R. Q. van der Linde, F. C. T. van der Helm, IEEE Transactions on Robotics (2005), V21(3) p.p.: 393-401.

 

Passive dynamic walking model with upper body
M. Wisse, A. L. Schwab, F. C. T. van der Helm, Robotica (2004), V22(6), p.p.: 681-688.

 

A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees
S. H. Collins, M. Wisse, A. Ruina, International Journal on Robotics Research, (July 2001). V20(7), p.p.: 607-615.

 

A 3D Passive Dynamic Biped with Yaw and Roll Compensation
M. Wisse and A. L. Schwab, Robotica (2001). V19(3), p.p.: 275-284.
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Design, analysis and control of a low power joint for walking robots, by phasic activation of McKibben muscles
R. Q. van der Linde, IEEE Trans. Robotics & Automation (Aug. 1999). V15(4), p.p.: 599-604.
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Passive bipedal walking with phasic muscle contraction
R. Q. van der Linde, Biological Cybernetics (Sept. 1999). V81(3), p.p.: 227-237.
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Towards applicable ballistic walking
R. Q. van der Linde, Technology and Healthcare (1999). V7(6), p.p.: 449-453.

 

Conference Papers

Controlling velocity in bipedal walking: A dynamic programming approach
T. Mandersloot, M. Wisse, C. G. Atkeson, IEEE International conference on Humanoid Robots 2006, Genua, Italy.

 

Ankle springs instead of arc-shaped feet for passive dynamic walkers
M. Wisse, D. G. E. Hobbelen, R. J. J. Rotteveel, S. O. Anderson, G. J. Zeglin, IEEE International conference on Humanoid Robots 2006, Genua, Italy.

 

Swing leg retraction helps biped walking stability
M. Wisse, C. G. Atkeson, D. K. Kloimwieder, IEEE International conference on Humanoid Robots 2005, Tsukuba, Japan.

 

Powered Bipeds Based on Passive Dynamic Principles
S. O. Anderson, M. Wisse, C.G. Atkeson, J.K. Hodgins, G.J. Zeglin, IEEE International conference on Humanoid Robots 2005, Tsukuba, Japan.

 

Using a controller based on reinforcement learning for a passive dynamic walking robot
E. Schuitema, D.G.E. Hobbelen, P.P. Jonker, M. Wisse, J.G.D. Karssen, IEEE International conference on Humanoid Robots 2005, Tsukuba, Japan.

 

Three additions to passive dynamic walking; actuation, an upper body, and 3D stability
M. Wisse, IEEE International conference on Humanoid Robots 2004, Los Angeles, California.

 

Ankle joints and flat feet in dynamic walking
D. G. E. Hobbelen, M. Wisse, International conference on Climbing and Walking Robots (CLAWAR) 2004, Madrid, Spain.

 

First steps in Passive Dynamic Walking
M. Wisse, A. L. Schwab, International conference on Climbing and Walking Robots (CLAWAR) 2004, Madrid, Spain.

 

Smart mechanics for simple control of hands, arms, and legs
M. Wisse and J.L. Herder, IEEE International conference on Humanoid Robots 2003, Karlsruhe, Germany.

 

Design and construction of Mike; a 2D autonomous biped based on passive dynamic walking
M. Wisse and J. van Frankenhuyzen, Proc., 2nd International Symposium on Adaptive Motion of Animals and Machines. 2003, Kyoto, Japan.
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Basin of attraction of the simplest walking model
A. L. Schwab and M. Wisse, Proc., ASME International Conference on Noise and Vibration. 2001, Pennsylvania.
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Biologically inspired biped design
M. Wisse, Proc., Symposium of the Int. Soc. for Postural and Gait Research. p.p.: 900-903, June 23-27, 2001, Maastricht, The Netherlands.

 

Actively controlled ballistic walking
R. Q. van der Linde, Proc. IASTED Int. Conf. Robotics & Applications. p.p.: 135-142, August 14-16, 2000, Honolulu, Hawaii.
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Towards applicable ballistic walking
R. Q. van der Linde, Proc. Int. Biomechatronics Workshop. p.p.: 144-148, April 19-21, 1999, Enschede, The Netherlands.

 

Active leg compliance for passive walking
R. Q. van der Linde, Proc. IEEE Int. Conf. Robotics & Automation. p.p.: 2339-2345, 16-20 May 1998, Leuven, Belgium.
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