— Evolutionary optimization of a gait for a bipedal robot has been studied, combining structural and parametric modifications of the system responsible for generating the gait. ...
— The influence of ankle compliance on bipedal robot locomotion is investigated in this paper. The focus is on reduction of energy consumption. The concept of hybrid zero dynami...
Thomas Schauss, Michael Scheint, Marion Sobotka, W...
— We present a method for computing controllers for stable planar-biped walking gaits that follow a particular style. The desired style is specified with a kinematic target traj...
This paper reports how and to what extent the mass distribution of a passive dynamic walker can be tuned to maximize walking speed and stability. An exploration of the complete pa...
— This paper presents an algorithm for adapting periodic behavior to gradual shifts in task parameters. Since learning optimal control in high dimensional domains is subject to t...