23 search results - page 4 / 5 » A Controller for the LittleDog Quadruped Walking on Rough Te... |
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper presents an algorithm for adapting periodic behavior to gradual shifts in task parameters. Since learning optimal control in high dimensional domains is subject to t...
ICRA
2009
IEEE
13 years 12 months ago
2009
IEEE
— In this video, we demonstrate the effectiveness of a kinodynamic planning strategy that allows a high-impedance quadruped to operate across a variety of rough terrain. At one e...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact b...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
Abstract— In this paper, we explore the capabilities of actuated models of the compass gait walker on rough terrain. We solve for the optimal high-level feedback policy to negoti...
ICRA
2009
IEEE
13 years 12 months ago
2009
IEEE
— It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction b...