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Benjamin Stephens
Benjamin Stephens
Technical Manager, Boston Dynamics
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Title
Cited by
Cited by
Year
Humanoid push recovery
B Stephens
Humanoid Robots, 2007 7th IEEE-RAS International Conference on, 589-595, 2007
3292007
Dynamic balance force control for compliant humanoid robots
BJ Stephens, CG Atkeson
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International …, 2010
2952010
Push recovery by stepping for humanoid robots with force controlled joints
BJ Stephens, CG Atkeson
Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on …, 2010
2222010
Integral control of humanoid balance
B Stephens
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International …, 2007
1332007
Multiple balance strategies from one optimization criterion
CG Atkeson, B Stephens
IEEE Press, 2007
1152007
Push recovery control for force-controlled humanoid robots
B Stephens
Carnegie Mellon University, 2012
1052012
State estimation for force-controlled humanoid balance using simple models in the presence of modeling error
BJ Stephens
Robotics and Automation (ICRA), 2011 IEEE International Conference on, 3994-3999, 2011
832011
Random sampling of states in dynamic programming
CG Atkeson, BJ Stephens
IEEE Transactions on Systems, Man, and Cybernetics, Part B 38 (4), 924-929, 2008
712008
Modeling and control of periodic humanoid balance using the linear biped model
B Stephens, C Atkeson
Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference …, 2009
602009
Dynamic whole-body robotic manipulation
Y Abe, B Stephens, MP Murphy, AA Rizzi
SPIE Defense, Security, and Sensing, 87410V-87410V-11, 2013
252013
High degree-of-freedom dynamic manipulation
MP Murphy, B Stephens, Y Abe, AA Rizzi
SPIE Defense, Security, and Sensing, 83870V-83870V-10, 2012
182012
Torso rotation for push recovery using a simple change of variables
EC Whitman, BJ Stephens, CG Atkeson
Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on …, 2012
152012
Gain scheduled control of perturbed standing balance
D Xing, CG Atkeson, J Su, BJ Stephens
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International …, 2010
132010
Inverse kinematics-based motion planning for underactuated systems
P Choudhury, B Stephens, KM Lynch
Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International …, 2004
92004
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