— This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control arch...
— Fluid bipedal locomotion remains a significant challenge for humanoid robotics. Recent bio-inspired approaches have made significant progress by using small numbers of tightl...
: Generating composite human motion such as locomotion and gestures is important for interactive applications, such as interactive storytelling and computer games. In interactive s...
This paper presents a physics-based locomotion controller based on online planning. At each time-step, a planner optimizes locomotion over multiple phases of gait. Stance dynamics...
— Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g. surface) changes. In this paper we examine the relationship betwee...