# David E. Orin

According to our database

Collaborative distances:

^{1}, David E. Orin authored at least 98 papers between 1984 and 2017.Collaborative distances:

## Awards

## IEEE Fellow

IEEE Fellow 1993, "For contributions to the computation of robot kinematics and dynamics.".

## Timeline

#### Legend:

Book In proceedings Article PhD thesis Other## Links

#### On csauthors.net:

## Bibliography

2017

Whole-Body Control [TC Spotlight].

IEEE Robot. Automat. Mag., 2017

2016

Dynamics.

Proceedings of the Springer Handbook of Robotics, 2016

Terrain-Blind Humanoid Walking Based on a 3-D Actuated Dual-SLIP Model.

IEEE Robotics and Automation Letters, 2016

Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control.

I. J. Humanoid Robotics, 2016

2015

Kinodynamically Consistent Motion Retargeting for Humanoids.

I. J. Humanoid Robotics, 2015

Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion.

Auton. Robots, 2015

Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model.

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model.

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

3D-SLIP steering for high-speed humanoid turns.

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Development of high-span running long jumps for humanoids.

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Robotics and Automation for Humanitarian Activities [President's Message].

IEEE Robot. Automat. Mag., 2013

RAS Member Survey [President's Message].

IEEE Robot. Automat. Mag., 2013

RAS Journal Publications Provide an Open Access Option [President's Message].

IEEE Robot. Automat. Mag., 2013

Optimizing foot Centers of pressure through force Distribution in a humanoid robot.

I. J. Humanoid Robotics, 2013

Centroidal dynamics of a humanoid robot.

Auton. Robots, 2013

Humanoid robots walking on grass, sands and rocks.

Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications, 2013

High-speed humanoid running through control with a 3D-SLIP model.

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Generation of dynamic humanoid behaviors through task-space control with conic optimization.

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

Growing Membership in IEEE RAS [President's Message].

IEEE Robot. Automat. Mag., 2012

Global Perspective [President's Message].

IEEE Robot. Automat. Mag., 2012

Nurture the Automation Side of the Society [President's Message].

IEEE Robot. Automat. Mag., 2012

Strategic Themes for RAS [President's Message].

IEEE Robot. Automat. Mag., 2012

A reduced-order recursive algorithm for the computation of the operational-space inertia matrix.

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011

Fuzzy controlled hopping in a biped robot.

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010

Intelligent Control of High-Speed Turning in a Quadruped.

Journal of Intelligent and Robotic Systems, 2010

Evolution of a 3D Gallop in a Quadrupedal Model with Biological Characteristics.

Journal of Intelligent and Robotic Systems, 2010

Constrained resolved acceleration control for humanoids.

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Whole-body humanoid control from upper-body task specifications.

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2008

Dynamics.

Proceedings of the Springer Handbook of Robotics, 2008

Centroidal Momentum Matrix of a humanoid robot: Structure and properties.

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Evolution of a jump in an articulated leg with series-elastic actuation.

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007

Quadrupedal running at high speed over uneven terrain.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Force Redistribution in a Quadruped Running Trot.

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006

3D control of a high-speed quadruped trot.

Industrial Robot, 2006

Attitude Control of a Quadruped Trot While Turning.

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Evolution of Dynamic Maneuvers in a 3D Galloping Quadruped Robot.

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005

Hybrid kinematic and dynamic simulation of running machines.

IEEE Trans. Robotics, 2005

Control of a 3D Quadruped Trot.

Proceedings of the Climbing and Walking Robots, 2005

A 3D Galloping Quadruped Robot.

Proceedings of the Climbing and Walking Robots, 2005

2004

Generating high-speed dynamic running gaits in a quadruped robot using an evolutionary search.

IEEE Trans. Systems, Man, and Cybernetics, Part B, 2004

System Design of a Quadrupedal Galloping Machine.

I. J. Robotics Res., 2004

2003

Intelligent control of an experimental articulated leg for a galloping machine.

Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Achieving periodic leg trajectories to evolve a quadruped gallop.

Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2001

Dynamic Simulation of Actively-Coordinated Wheeled Vehicle Systems on Uneven Terrain.

Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000

Efficient formulation of the force distribution equations for general tree-structured robotic mechanisms with a mobile base.

IEEE Trans. Systems, Man, and Cybernetics, Part B, 2000

Fuzzy Control of Quadrupedal Running.

Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Robot Dynamics: Equations and Algorithms.

Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999

A compliant contact model with nonlinear damping for simulation of robotic systems.

IEEE Trans. Systems, Man, and Cybernetics, Part A, 1999

Toward Development of a Generalized Contact Algorithm for Polyhedral Objects.

Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Passive Walking with Leg Compliance for Energy Efficient Multilegged Vehicles.

Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Force Distribution Equations for General Tree-Structured Robotic Mechanisms with a Mobile Base.

Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Increasing the Locomotive Stability Margin of Multilegged Vehicles.

Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998

Forward Dynamics of Multilegged Vehicles using the Composite Rigid Body Method.

Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Quadratic Optimization of Force Distribution in Walking Machines.

Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997

Gait planning for energy efficiency in walking machines.

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

1996

XAnimate: an educational tool for robot graphical simulation.

IEEE Robot. Automat. Mag., 1996

A computational framework for simulation of Underwater Robotic Vehicle systems.

Auton. Robots, 1996

Simulation of contact using a nonlinear damping model.

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995

Efficient dynamic simulation of an underwater vehicle with a robotic manipulator.

IEEE Trans. Systems, Man, and Cybernetics, 1995

Efficient computation of articulated-body inertias using successive axial screws.

IEEE Trans. Robotics and Automation, 1995

Control of a quadruped standing jump over irregular terrain obstacles.

Auton. Robots, 1995

Object-Oriented Design of a Dynamic Simulation for Underwater Robotic.

Proceedings of the 1995 International Conference on Robotics and Automation, 1995

1994

Fuzzy control for robotic power grasp.

Advanced Robotics, 1994

General Formulation for Force Distribution in Power Grasp.

Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Efficient Dynamic Simulation of an Unmanned Underwater Vehicle with a Manipulator.

Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993

Efficient O(N) recursive computation of the operational space inertia matrix.

IEEE Trans. Systems, Man, and Cybernetics, 1993

Dynamic Control of a Quaduped Standing Jump.

Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Dynamic Simulation of Enveloping Power Grasps.

Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

1992

Toward super-real-time simulation of robotic mechanisms using a parallel integration method.

IEEE Trans. Systems, Man, and Cybernetics, 1992

Power grasp force distribution control using artificial neural networks.

J. Field Robotics, 1992

Efficient dynamic simulation of multiple manipulator systems with singularities.

Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

1991

Efficient formulation of the force-distribution equations for simple closed-chain robotic mechanisms.

IEEE Trans. Systems, Man, and Cybernetics, 1991

Optimal force distribution in multiple-chain robotic systems.

IEEE Trans. Systems, Man, and Cybernetics, 1991

Alternate Formulations for the Manipulator Inertia Matrix.

I. J. Robotics Res., 1991

Efficient Dynamic Simulation of a Quadruped Using a Decoupled Tree-Structure Approach.

I. J. Robotics Res., 1991

Parallel Algorithms for Computation of the Manipulator Inertia Matrix.

I. J. Robotics Res., 1991

Real-time robot dynamic simulation on a vector/parallel supercomputer.

Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

Efficient dynamic simulation of a single closed chain manipulator.

Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

Neural network control of force distribution for power grasp.

Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

1990

Efficient algorithm for optimal force distribution-the compact-dual LP method.

IEEE Trans. Robotics and Automation, 1990

A neural network interface to the DIGITS Grasping System.

Proceedings of the IJCNN 1990, 1990

Efficient O(N) computation of the operational space inertia matrix.

Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

1989

A restructurable VLSI robotics vector processor architecture for real-time control.

IEEE Trans. Robotics and Automation, 1989

Efficient algorithm for optimal force distribution in multiple-chain robotic systems-the compact-dual LP method.

Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

1988

Systolic architectures for the manipulator inertia matrix.

IEEE Trans. Systems, Man, and Cybernetics, 1988

Omnidirectional supervisory control of a multilegged vehicle using periodic gaits.

IEEE J. Robotics and Automation, 1988

The kinematics of motion planning for multilegged vehicles over uneven terrain.

IEEE J. Robotics and Automation, 1988

Reflex control of the prototype leg during contact and slippage.

Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988

A VLSI robotics vector processor for real-time control.

Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988

1987

A strictly convergent real-time solution for inverse kinematics of robot manipulators.

J. Field Robotics, 1987

A systolic architecture for computation of the manipulator inertia matrix.

Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31, 1987

1986

Using proximity sensing in robot leg control.

Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

A real-time computer architecture for inverse kinematics.

Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

Dynamic computer simulation of multiple closed-chain robotic mechanisms.

Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

The kinematics of legged locomotion over uneven terrain.

Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

1985

Pipeline/Parallel algorithms for the jacobian and inverse dynamics computations.

Proceedings of the 1985 IEEE International Conference on Robotics and Automation, 1985

1984

An inverse kinematic solution for kinematically redundant robot manipulators.

J. Field Robotics, 1984

Pipelined approach to inverse plant plus jacobian control of robot manipulators.

Proceedings of the 1984 IEEE International Conference on Robotics and Automation, 1984