: This paper proposes the new innovated 4-legged Locomotion mechanism with pantograph-jack structure as its leg. This study aims at developing the practical robotic system, especia...
Animating natural human motion in dynamic environments is difficult because of complex geometric and physical interactions. Simulation provides an automatic solution to parts of t...
We consider a class of linear flexible mechanical systems arising from the dynamics of animal locomotion. A distinctive property of such systems is that the stiffness matrix is asy...
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 ...
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...