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Enhancing human physical capability
K. Endo and H. Herr. Human walking model predicts joint mechanics, electromyography and mechanical economy, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, Oct. 2009.
H. Geyer and H. Herr. A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities, IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2010.
K. Endo and H. Herr. A model of muscle-tendon function in human walking, IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 2009.
K. Endo, D. Paluska, and H.M. Herr. A quasi-passive model of human leg function in level-ground walking, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, Oct. 2006.
M. Popovic, A. Goswami, and H. M. Herr. Ground reference points in legged locomotion: Definitions, biological trajectories and control implications, International Journal of Robotics Research, vol. 24, no. 10, pp. 1013-1032, 2005.
M. Popovic and H.M. Herr. Global motion control and support base planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Canada, Aug. 2005.
M. Popovic, A. Hofmann, and H. Herr. Zero spin angular momentum control: Definition and applicability, 4th IEEE/RAS International Conference on Humanoid Robots, vol. 1, pp. 478–493, 2004.
A. Hofmann, S. Massaquoi, M. Popovic, and H. Herr. A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1952–1959, 2004.
M. Popovic and A. Englehart. Angular momentum primitives for human walking: Biomechanics and control, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1685–1691, 2004.
M. Popovic, A. Hofmann, and H. Herr. Angular momentum regulation during human walking: Biomechanics and control, IEEE International Conference on Robotics and Automation, vol. 3, pp. 2405–2411, 2004.
A. Seyfarth, H. Geyer, and H. M. Herr. Swing-leg retraction: a simple control model for stable running, The Journal of Experimental Biology, vol. 206, pp. 2547-2555, 2003.
H. M. Herr, G. T. Huang, and T. A. McMahon. A model of scale effects in mammalian quadrupedal running, Journal of Experimental Biology, vol. 205, no. 7, pp. 959-967, 2002.
A. E. Kerdok, A. A. Biewener, T. A. McMahon, P. G. Weyand, and H. M. Herr. Energetics and mechanics of human running on surfaces of different stiffnesses, Journal of Applied Physiology, vol. 92, no. 2, pp. 469-478, 2002.
H. M. Herr and T. A. McMahon. A trotting horse model, The International Journal of Robotics Research, vol. 19, no. 6, pp. 566–581, Jun. 2000.
M. Vukobratovic, H. Herr, B. Borovac, M. Popovic, A Hofmann, M Jovanovic, and V. Potkonjak. Biological Principles of Control Selection for a Humanoid Robot’s Dynamic Balance Preservation. International Journal of Humanoid Robotics, vol. 5, no. 4, pp 639-678, 2008.
L. M. Mooney, E. J. Rouse and H. M. Herr. Autonomous exoskeleton reduces metabolic cost of walking, International Conference of the IEEE Engineering in Medicine and Biology Society, August. 2014.
A. Hofmann, M. Popovic, and H. M. Herr. Exploiting angular momentum to enhance bipedal center-of-mass control, IEEE International Conference on Robotics and Automation (ICRA ’09), pp. 4423-4429, 2009.
A. Hofmann, M. Popovic, and H. Herr. Humanoid standing control: learning from human demonstration, Journal of Automatic Control, vol. 12, no. 1, pp. 16–22, 2002.
H. Herr, G. Pratt, R. Dennis, N. Rosenthal, and R. Marsh. From swimming to walking: Examples of how biology is helping us design better machines, Second International Congress on Motion Systems, Jena, Germany, Jul. 2001.
J. J. Hu, J. E. Pratt, C.-M. Chew, H. M. Herr, and G. A. Pratt. Virtual model based adaptive dynamic control of a biped walking robot, International Journal on Artificial Intelligence Tools, vol. 8, no. 3, pp. 337–348, Sep. 1999.
H.M. Herr and M. Popovic. Angular momentum in human walking, Journal of Experimental Biology, vol. 211, no. 4, pp. 467-481, 2008.