— This paper extends the authors’ previous results on fault tolerant locomotion of the hexapod robot on even terrain by relaxing nonoverlap of redefined reachable cells of leg...
Abstract— This paper discusses the design principles and philosophy of the BiMASC, a biped with Mechanically Adjustable Series Compliance which incorporates tuned mechanical leg ...
Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Ri...
The spring-loaded inverted pendulum (SLIP) is a simple, passivelyelastic two-degree-of-freedom model for legged locomotion that describes the center-of-mass dynamics of many anima...
Abstract— This paper proposes a small-scale agile wall climbing robot able to navigate on smooth surfaces of any orientation, including vertical and inverted surfaces, which uses...
Michael P. Murphy, William Tso, Michael Tanzini, M...
— Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generatio...