ICRA
2003
IEEE
14 years 5 months ago
2003
IEEE
In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of th...
ISER
2004
Springer
14 years 5 months ago
2004
Springer
Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While...
IROS
2009
IEEE
14 years 7 months ago
2009
IEEE
— 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...