— Passive dynamics plays an important role in legged locomotion of the biological systems. The use of passive dynamics is expected for energy efficiency, self-stabilization agai...
— Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that...
— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...
Jonas Buchli, Mrinal Kalakrishnan, Michael Mistry,...
This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved for 4 years, as uimed at the realization of the lower part of an an...
Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the...