5 search results - page 1 / 1 » Heterogeneous Leg Stiffness and Roll in Dynamic Running |
ICRA
2007
IEEE
14 years 5 months ago
2007
IEEE
— Legged robots are by nature strongly non-linear, high-dimensional systems whose full complexity permits neither tractable mathematical analysis nor comprehensive numerical stud...
ICRA
2009
IEEE
14 years 5 months ago
2009
IEEE
— Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g. surface) changes. In this paper we examine the relationship betwee...
ICRA
2009
IEEE
14 years 5 months ago
2009
IEEE
— Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property o...
ICRA
2007
IEEE
14 years 5 months ago
2007
IEEE
Abstract— In this paper, an attitude control strategy is developed for a high-speed quadruped trot. The forces in the trot are redistributed among the legs to stabilize the pitch...
ICRA
2003
IEEE
14 years 4 months ago
2003
IEEE
— A new 3D biped prototype with small DOF, SKIPPER, was developed. As an important component of a running controller for this robot, an aerial posture controller is presented. Th...