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...
An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the e...
- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant veloc...
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...
Abstract— This paper proposes a novel framework to generate optimal passive gait trajectories for a planar one-legged hopping robot via iterative learning control. The proposed m...