PUBLICATIONS RELATED TO GIANT HEXAPOD PROJECT

OVERVIEWS

  1. Hexapod from UK. Chapter 4 of PHD. Gait Generation in Hexapod Robots and Local Modeling Techniques.


RODNEY BROOKS AND SUBSUMPTION ARCHITECTURE

  1. Josep M. Porta and Enric Celaya, Walking in Unstructured Natural Environments

  2. Porta and Celaya, Body and leg coordination for omnidirectional walking in rough terrain. Barcelona, Spain.

  3. Celaya and Porta, Navigation of a Walking Robot in Natural Environments.

  4. E. Celaya and J. Porta, A Control Structure for the Locomotion of a Legged Robot on Difficult Terrain.

  5. Celaya, Porta, Angulo, Reactive Gait Generation for Varying Speed and Direction. For rough terrain.

  6. David Wettergreen and Chuck Thorpe, Developing planning and reactive control for a hexapod robot, The Robotics Institute, Carnegie Mellon University. Robot that went to volcano, rough terrain.

  7. Celaya and Porta, Force-Based Control of a Six-Legged Robot on Abrupt Terrain Using the Subsumption Architecture. Started with Subsumption, redesigned layers to compliant.

  8. R. Brooks, 1985. A Robust Layered Control System for a Mobile Robot. Classical Brooks paper about wheeled robot control.

  9. R. Brooks, MIT memorandum 1986. Achieving Artificial Intelligence Through Building Robots.

  10. R. Brooks, A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network. MIT MEMO. 1989. Subsumption Architecture for a walker.

  11. R. Brooks, The Behavior Language; User's Guide. Memo MIT. 1990.

  12. Brooks, Artificial Life and real robots

  13. MIT group, Humanoid Robots:A New Kind of Tool

  14. R. Brooks, Intelligence without reason, 1991.

  15. Brooks et al, Building Brains for Bodies, MIT Memo, 1993.

  16. Brooks and Stein, Building Brains for Bodies, from Autonomous Robots, 1994.

  17. R. Brooks, Challenges for Complete Creature Architectures.

  18. R. Brooks, How to Build Complete Creatures Rather than Isolated Cognitive Simulators.

  19. R. Brooks, From Earwigs to Humans.

  20. R. Brooks, Elephants Don't Play Chess.

  21. R. Brooks, Prospects for Human Level Intelligence for Humanoid Robots.

  22. R. Brooks, The Role of learning in Autonomous Robots.

  23. R. Brooks, New approaches to robotics.

  24. R. Brooks, Fast, Cheap and Out of Control: A Robot Invasion of the Solar System.

  25. R. Brooks, Intelligence without representation.

  26. R. Brooks et al, Alternative Essences of Intelligence.

  27. R. Brooks et al, Twilight Zones and Cornerstones, A Gnat Robot Double Feature.

  28. R. Brooks, Integrated Systems Based on Behaviors.

  29. Pattie Maes and R. Brooks, Learning to Coordinate Behaviors.

  30. C. Angle and R. Brooks, Small Planetary Rovers. 1990.



CRITIC AND DHP METHODS

  1. George Lendaris and Thaddeus Shannon, Designing (Approximate) Optimal Controllers via DHP Adaptive Critics and Neural Networks
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  3. George Lendaris and Thaddeus Shannon, Applicatoin Considerations for the DHP Methodology.
  4. George G. Lendaris, Christian Paintz, Thaddeus Shannon, More on Training Strategies for Critic and Action Neural Networks in Dual Heuristic Programming Method.
  5. George G. Lendaris, Christian Paintz, Thaddeus Shannon, More on Training Strategies for Critic and Action Neural Networks in Dual Heuristic Programming Method. (another version?)

CONSTRUCTIVE INDUCTION METHODS

  1. M. Perkowski and S. Grygiel, Decomposition of Relations: A New Approach to Constructive Induction in Machine Learning and Data Mining - An Overview. PDF format.

  2. M. Perkowski and S. Grygiel, Decomposition of Relations: A New Approach to Constructive Induction in Machine Learning and Data Mining - An Overview. Postscript format.

SENSOR BASED

  1. T. Zielinska and J. Heng, Autonomous Walking Machines: Motion Planning Using Sensory Information. Uses sonars for motion planning.

NEURAL NETS FOR HEXAPODS

  1. T.M. Kubow and R.J. Full, The role of the mechanical system in control: a hypothesis of self-stabilization in hexapedal runners, U.C. Berkeley.

  2. Full and Koditchek, TEMPLATES AND ANCHORS: NEUROMECHANICAL HYPOTHESES OF LEGGED LOCOMOTION ON LAND

  3. T. M. Kubow and R. J. Full *, The role of the mechanical system in control: a hypothesis of self-stabilization in hexapedal runners, Department of Integrative Biology, University of California at Berkeley, Berkeley, CA 94720, USA

  4. M. Buehler 1 , U. Saranli 2 , D. Papadopoulos 1 and D. Koditschek 2, Dynamic locomotion with four and six-legged robots 1, 1 Centre for Intelligent Machines, Ambulatory Robotics Laboratory, McGill University 2 Department of Electrical Engineering and Computer Science, University of Michigan

  5. Aleksander et al, Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot.

  6. Klavins, Komsuoglu, Full and Koditschek, Legged locomotion.

  7. Moore, Crary, Koditschek and Conklin, Directed Locomotion in Cockraches: "Biobots"

  8. DEVIN L. JINDRICH AND ROBERT J. FULL*, MANY-LEGGED MANEUVERABILITY: DYNAMICS OF TURNING IN HEXAPODS, Department of Integrative Biology, University of California at Berkeley, Berkeley, CA 94720, USA

COMPLIANT CONTROL

  1. M. Buehler 1 , U. Saranli 2 , D. Papadopoulos 1 and D. Koditschek 2, Dynamic locomotion with four and six-legged robots 1 1 Centre for Intelligent Machines, Ambulatory Robotics Laboratory, McGill University2 Department of Electrical Engineering and Computer Science, University of Michiganhex.pdf

  2. Saranli , Buehler and Koditschek, RHex: A Simple and Highly Mobile Hexapod Robot

  3. Uluc Saranli, Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, MI 48109-2110, USA, Martin Buehler, Centre for Intelligent Machines McGill University, Modeling and Analysis of a Spatial Compliant Hexapod

  4. M. Fielding, CH. Damaren, and R.Dunlop, Hamlet: Force/Position Controlled Hexapod Walker - Design and Systems.

  5. Uruc Saranli, Brtin Buehler 2 and Daniel E. Koditschek 1, Department of Electrical Engineering and Computer Science The University ofMichigan, Ann Arbor, MI 48109-2110, USA 2 Center for Intelligent Machines, McGill University, Montreal, QC H3A 2A7, Canada Design, Modeling and Preliminary Control of a Compliant Hexapod Robot

GENETIC ALGORITHM AND EVOLUTIONARY METHODS FOR HEXAPODS

  1. Earon, Barefoot and D'Eleuterio, From the Sea to the Sidewalk: The Evolution of Hexapod Walking Gaits by a Genetic Algorithm.

  2. Lewis, Fagg, and Bekey, USC. Genetic Algorithms for Gait Synthesis in a Hexapod Robot.
  3. G.Parker, D.Braun and I.Cyliax, Indiana, Evolving Hexapod Gaits Using a Cyclic Genetic Algorithm.

  4. Ziegler et al, Constructing a Small Humanoid Robot as a Platform for the Genetic Evolution of Walking.

  5. library-genetic-algorithm-robotics.pdf

  6. S. Johnson, G. Parker, I. Cyliax, and D. Braun Using Cyclic Genetic Algorithms to Reconfigure Hardware Controllers for Robots. Indiana University Report no. 494.

HYBRID OSCILLATORS.

  1. Klavins and Koditschek, Stability of Coupled Hybrid Oscillators.

  2. Celaya and Porta, Control of a Six-Legged Robot Walking on Abrupt Terrain.

REINFORCEMENT LEARNING FOR HEXAPODS

  1. Porta and Celaya, Efficient Gait Generation using Reinforcement Learning.

  2. Barefoot et al, A Step in the Right Direction. Learning Hexapod Gaits through Reinforcement. Symposium on Robotics, Montreal, 2001.

  3. T.D. Barfoot et all, A Step In The Right Direction. Learning Hexapod Gaits Through Reinforcement. Toronto.

  4. Porta, p-learning: A Robotics Oriented Reinforcement Learning Algorithm.

  5. Porta, Reinforcement-Based Learning with Automatic Categorization.

PATTERN GENERATOR METHODS FOR HEXAPODS

  1. Porta and Celaya, Gait Analysis for Six-Legged Robots.

  2. Klavins, Koditschek, Ghrist, Towards the Regulation and Composition of Cyclic Behaviors.

BIO-INSPIRED METHODS FOR HEXAPODS

  1. Komsuoglu and Koditchek, Preliminary Analysis of Biologically Inspired 1-DOF "Clock" Stabilized Hopper.