Publications

GIMBiped Realted Publications

Journal

  • Tomi Ylikorpi, Jose-Luis Peralta and Aarne Halme, Comparing passive walker simulators in Matlab and Adams, Journal of Structural Mechanics, Vol. 44, no. 1, pp. 65-92, 2011. paper pdf

Conference

  • F. P. Kusumah, J.L. Peralta-Cabezas, T. Ylikorpi and A. Halme, Implementation and Analysis of Fuzzy-ZMP-Walking Control in the GIMBiped (pre-print) pdf, 2012 International Conference on Climbing and Walking Robots, Baltimore, USA.
  • P. Jakubik, “An autonomous biped: Concept and design,” in Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics, 2012, pp. 167–176.
  • T. Haarnoja, J.L. Peralta-Cabezas and A. Halme, Model-based Velocity Control for Limit Cycle Walking, IROS2011, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA. paper
  • J.L. Peralta-Cabezas, T. Haarnoja, T. Ylikorpi, and A. Halme, Assessment of Limit-Cycle-Based Control on 2D Kneed Biped, 2011 International Conference on Robotics and Automation, Shanghai, China. paper
  • J.L. Peralta-Cabezas, T. Haarnoja, T. Ylikorpi, and A. Halme, accepted to 2010 International Conference on Climbing and Walking Robots, Nagoya, Japan.Idle State Stability, Limit Cycle Walking & Regenerative Walking: Towards Long Time Autonomy in Bipeds (pre-print) pdf
  • J.L. Peralta-Cabezas, T. Ylikorpi, K. Gulzar, P. Jakubik, and A. Halme. Novel Design of Biped Robot Based on Linear Induction Motors, in Proc. International Conference on Humanoid Robots, Paris, France, 7-10 Dec. 2009. paper

Internal Publication

  • Jose Luis Peralta, "Energy efficient bipedal walking," in Proc. The second workshop on generic intelligent machines, Tampere, May 14-15, 2009, Kalevi Huhtala and Janne Uusi Heikkilä (eds.), Tampere: Tampereen teknillinen yliopisto, 2009, s. 13.
  • P. Jakubik, Inertial parameters of the biped mechanism, Helsinki University of Technology, Tech. Rep., February 2009.
  • J.L. Peralta-Cabezas, 'Review on Dynamic Bipedal Walking Robots', Dec. 2008.
  • P. Jakubik, A Design Concept for an Anthropomorphic Walker, Unpublished.

Master Thesis

  • Ferdi Perdana Kusumah, "Foot force sensor implementation and analysis of ZMP walking on 2D bipedal robot with linear actuators", Aalto University, Espoo, Finland, 2011.thesis pdf
  • Tuomas Haarnoja, "Dynamic Modeling and Velocity Control for Limit Cycle Walking", Helsinki University of Technology, Espoo, Finland, 2010. thesis pdf
  • Asko Siitonen, "Technology and modelling of biped robot", Helsinki University of Technology, Espoo, Finland, 2008, link.

PhD Thesis

  • José Luis Peralta, "Towards Energy-Efficient Limit-Cycle Walking in Biped Service Robots: Design Analysis, Modeling and Experimental Study of Biped Robot Actuated by Linear Motors", Aalto University, Espoo, Finland. link