— This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-Glass reinforced composites and fl...
Abstract— We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passi...
Self-reconfigurable or metamorphic robots can change their individual and collective shape and size to meet operational demands. Since these robots are constructed from a set of a...
— In this paper, we address the issues of compliant control of a robot under contact constraints with a goal of using joint space based pattern generators as movement primitives,...
The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An...