We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods a...
C. David Remy, Keith W. Buffinton, Roland Siegwart
: This paper describes experiments with an electrically actuated one legged hopping robot, the ARL Monopod. While a spring-mass system, comprised of the leg spring and the body mas...
In this paper, we introduce a new hexapedal locomotion controller that simulation evidence suggests will be capable of driving our RHex robot at speeds exceeding five body length...