Selected Publications

Collins, S. H., Kuo, A. D. (2010) Recycling energy to restore impaired ankle function
during human walking. Public Library of Science ONE, 5, e9307.

supporting PDF

high-speed

images

Collins, S. H., Adamczyk, P. G., Kuo, A. D. (2009) Dynamic arm swinging in human
walking. Proceedings of the Royal Society of London B., 276, 3679-3688.

supplementary PDF

model

experiment

physical model

Collins, S. H., Ruina, A. L., Tedrake, R., Wisse, M. (2005) Efficient bipedal robots
based on passive-dynamic walkers. Science, 307, 1082-1085.

supporting PDF

walking

compilation

photos

Collins, S. H., Wisse, M., Ruina, A. (2001) A three-dimensional passive-dynamic
walking robot with two legs and knees. Int. J. Robotics Research, 20, 607-615.

walking

walking (rear)

photos



Other Publications

van der Krogt, M. M., Bregman, D. J. J., Wisse, M., Doorenbosch, C. A. M.,
Harlaar, J., Collins, S. H. How crouch gait can dynamically induce stiff-knee gait.
Annals of Biomedical Engineering, in press.

Collins, S. H., Adamczyk, P. G., Ferris, D. P., Kuo, A. D. (2009) A simple method
for calibrating force plates and force treadmills using an instrumented pole.
Gait & Posture, 29, 59-64.

supplementary PDF

sample code

demonstration

Vanderpool, M. T., Collins, S. H., Kuo, A. D. (2008) Ankle fixation need not
increase the energetic cost of human walking. Gait & Posture, 28, 427-433.

Adamczyk, P. G., Collins, S. H., Kuo, A. D. (2006) The advantages of a rolling foot
in human walking. Journal of Experimental Biology, 209, 3953-3963.

Collins, S. H., Ruina, A. (2005) A bipedal walking robot with efficient and human-
like gait. In Proc. IEEE International Conference on Robotics & Automation,
Barcelona, Spain, 1983-1988.

walking

compilation

photos

Pratt, J. E., Krupp, B. T., Morse, C. J., Collins, S. H. (2004) The RoboKnee: an
exoskeleton for enhancing strength and endurance during walking. In Proc. IEEE
International Conference on Robotics and Automation
, New Orleans, LA, 2430-2435.

demonstration



Popular Press

Arm Swinging

Walking Robot



Curriculum Vitae

PDF - last updated February 2010
Co-organizer, lead on scientific program, Dynamic Walking 2009


Movie and Image Links

Arm Swinging

Walking Robot

Passive Robot

Other Movies



Steve Collins, Steven H. Collins, S.H. Collins, Dynamics, Mechanics, Locomotion, Robots, Models of Walking, Simulation, Biomechanics, Neuromechanics, BioRobotics, Musculoskeletal System, Walking Robots, human, anthropomorphic, CV, resume, vitae, vita, Intelligent Prosthetic Systems, Intelligent Mechatronic Systems, University of Michigan, Art Kuo, Cornell University, Andy Ruina, Seaholm High School, Ann Arbor, Michigan, Delft University of Technology the Netherlands