Related papers: A solvable walking model for a two-legged robot
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model captures rheological behaviors such as…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics' solver based on particle swarm optimization, PSO. First, an inverted…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…
This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
We analyze a model for a walker moving on a ratchet potential. This model is motivated by the properties of transport of motor proteins, like kinesin and myosin. The walker consists of two feet represented as two particles coupled…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…
In this work, the hierarchical control strategy of template-based control for a bipedal robot is described. The axial force of a compliant leg is redirected to a point, called the virtual pivot point (VPP), of a 2D biped robot, which is…