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. ...
This paper addresses the extention of humanoid's action capability by attatching toe joints. Eectiveness of toe joints is discussed in three aspects. One is utilizing it to ...
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...
— Legged robots represent great promise for transport in unstructured environments. However, it has been difficult to devise motion planning strategies that achieve a combinatio...
— This paper presents an algorithm for adapting periodic behavior to gradual shifts in task parameters. Since learning optimal control in high dimensional domains is subject to t...