— During a complete running stride, which involves significant periods of flight during which no legs are contacting the ground, a quadruped cannot employ static stability tech...
Abstract— In this paper, an attitude control strategy is developed for a high-speed quadruped trot. The forces in the trot are redistributed among the legs to stabilize the pitch...
Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the...
— High-speed legged locomotion is complicated by the challenge of uneven terrain because the system must respond to the fast-changing terrain elevation under each foot, and quick...
Rather than create a control system from scratch each time we build a new robot creature, we would like to generate control systems automatically. I have implemented an algorithm ...