In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the ...
Uluc Saranli, Martin Buehler, Daniel E. Koditschek
— A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of ma...
We demonstrate an adaptation strategy for adjusting the stride period in a hexapedal running robot. The robot is inspired by discoveries about the self-stabilizing properties of i...
Jonathan K. Karpick, Jorge G. Cham, Jonathan E. Cl...
— Two feedback controllers that induce stable running gaits on a three-degree-of-freedom asymmetric hopper, termed the Asymmetric Spring Loaded Inverted Pendulum (ASLIP), see Fig...
We study the problem of computing the set F of accessible and stable placements of a spider robot. The body of this robot is a single point and the legs are line segments attached...