A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is s...
In our previous work we have shown that walking can be implemented on quadrupeds with sti legs and only one actuated degree of freedom in the hip, based on the concept of controll...
Martin Buehler, A. Cocosco, K. Yamazaki, R. Battag...
Dynamics simulation can play a critical role in the engineering of robotic control code, and there exist a variety of strategies both for building physical models and for interact...
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the ...
Masaki Ogino, Hiroyuki Toyama, Sawa Fuke, Norbert ...
— A fast online gait planning method is proposed. Based on an approximate dynamical biped model whose mass is concentrated to COG, general solution of the equation of motion is a...