— Legged robots represent great promise for transport in unstructured environments. However, it has been difficult to devise motion planning strategies that achieve a combinatio...
The design and development of locomotory subsystems such as legs is a key issue in the broader topic of autonomous mobile systems. Simplification of substructures, sensing, actuat...
Abstract— Motivated by the goal of obtaining moreanthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. ...
A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the...
— It is expected that variation of leg compliance, that is determined not only by joint compliance but by joint angle, contributes to provide multi-modal locomotion such as walki...