Benjamin Stephens, Robotics
Advanced Robotics Engineer, Boston DynamicsSomerville, Massachusetts, United States
Research field: Computer and Information Science - Systems and Control Theory
Humanoid Robots, Optimal Control, Dynamic Simulation, Human Balance
Publications
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Journal Article (1)
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Christopher G Atkeson, Benjamin J Stephens (2008) Random sampling of states in dynamic programming., 924-9. In IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society 38 (4).Download PDF (459.09 KB)
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Conference Proceedings (7)
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Benjamin J Stephens (2011) State Estimation for Force-Controlled Humanoid Balance using Simple Models in the Presence of Modeling Error. In IEEE International Conference on Robotics and Automation.Download PDF (813.25 KB)
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Benjamin J Stephens, Christopher G Atkeson (2010) Dynamic Balance Force Control for Compliant Humanoid Robots. In Proceedings of the International Conference on Intelligent Robots and Systems.Download PDF (1015.24 KB)
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Benjamin J Stephens, Christopher G Atkeson (2010) Push Recovery by Stepping for Humanoid Robots with Force Controlled Joints. In Proceedings of the International Conference on Humanoid Robots.Download PDF (1.24 MB)
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Benjamin Stephens, Christopher Atkeson (2009) Modeling and Control of Periodic Humanoid Balance using the Linear Biped Model. In Proceedings of the International Conference on Humanoid Robots.Download PDF (724.64 KB)
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Benjamin Stephens (2007) Humanoid Push Recovery. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots.Download PDF (304.75 KB)
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Benjamin Stephens (2007) Integral Control of Humanoid Balance. In Proceedings of the International Conference on Intelligent Robots and Systems.Download PDF (466.6 KB)
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Christopher Atkeson, Benjamin Stephens (2007) Multiple Balance Strategies from One Optimization Criterion. In The IEEE-RAS 2007 International Conference on Humanoid Robots.Download PDF (435.56 KB)
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