We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods a...
C. David Remy, Keith W. Buffinton, Roland Siegwart
Legged autonomous vehicles move by executing patterns of leg-joint angles known as gaits. Synthesizing gaits by hand is a complex and time-consuming task which becomes even more c...
: Scout II, an autonomous four-legged robot with only one actuator per compliant leg is described. We demonstrate the need to model the actuators and the power source of the robot ...
S. Talebi, Ioannis Poulakakis, Evangelos Papadopou...
– In this paper, we present a hierarchical methodology that learns new walking gaits autonomously while operating in an uncharted environment, such as on the Mars planetary surfa...
Abstract— There has been much research into the development of robotic controllers in educational, industrial and government research labs, but limited hardware budgets constrain...