— This paper proposes an optimal gait generation framework using virtual constraint and learning optimal control. In this method, firstly, we add a constraint by a virtual poten...
Abstract— This paper proposes a novel framework to generate optimal passive gait trajectories for a planar one-legged hopping robot via iterative learning control. The proposed m...
Programming a humanoid robot to walk is a challenging problem in robotics. Traditional approaches rely heavily on prior knowledge of the robot's physical parameters to devise...
Rawichote Chalodhorn, David B. Grimes, Keith Groch...
Previous interactive works have used springs, heuristics, and dynamics for surface placement applications. We present an analytical technique for kilohertz rate manipulation of CA...
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...