Abstract-- This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar bipe...
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis...
We present a vision-based control and interaction framework for mobile robots, and describe its implementation in a legged amphibious robot. The control scheme enables the robot t...
—This paper describes a series of gaits which we developed for a free crawling snake robot. Snake robots, a class of hyper-redundant mechanisms, can use their many degrees of fre...
Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Chose...
— In this paper, the design, analysis, and fabrication of a gecko-inspired climbing robot are discussed. The robot has kinematics similar to a gecko’s climbing gait. It uses pe...
Ozgur Unver, Ali Uneri, Alper Aydemir, Metin Sitti
The generation of trajectories for a biped robot is a problem which has been largely studied for several years, and many satisfying off-line solutions exist for steady-state walki...