We describe a framework for the automatic synthesis of biped locomotion controllers that adapt to uneven terrain at run-time. The framework consists of two components: a per-foots...
— In this paper, we propose an action planning algorithm and its evaluation method based on dynamic simulation for a novel type of hybrid leg-wheel rover for planetary exploratio...
Eric Rohmer, Giulio Reina, Genya Ishigami, Keiji N...
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...