— The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the sw...
— 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 ...
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...
The semi-automatic or automatic synthesis of robot controller software is both desirable and challenging. Synthesis of rather simple behaviors such as collision avoidance by apply...
In the everyday exercise of controlling their locomotion, humans rely on their optic flow of the perceived environment to achieve collision-free navigation. In crowds, in spite o...
Jan Ondrej, Julien Pettré, Anne-Hélène Olivier,...