Abstract— This paper introduces the concept of gait transitions, acyclic feedforward motion patterns that allow a robot to switch from one gait to another. Legged robots often ut...
— We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific contr...
John R. Rebula, Peter Neuhaus, Brian V. Bonnlander...
— 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...
Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the...
— A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of ma...