— Legged robots show promise for complex mobility tasks, such as navigating rough terrain, but the design of their control software is both challenging and laborious. Traditional...
Jeff Clune, Benjamin E. Beckmann, Charles Ofria, R...
— A new Estimation of Distribution Algorithm (EDA) with spline kernel function (EDA_S) is proposed to optimize biped gait for a nine-link humanoid robot. Gait synthesis of the bi...
– 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...
— This paper investigates a novel mechanism, called DSAC for Dynamic, Single Actuated Climber, which propels itself upwards by oscillating its leg in a symmetric fashion using a ...
Abstract— This paper describes the online generation of trajectories for omnidirectional walking on two legs. The gait can be parameterized using walking direction, walking speed...