We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods a...
C. David Remy, Keith W. Buffinton, Roland Siegwart
Legged robots are useful in tasks such as search and rescue because they can effectively navigate on rugged terrain. However, it is difficult to design controllers for them that ...
— It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction b...
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to p...
Matthew Zucker, Nathan D. Ratliff, Martin Stolle, ...
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...