— Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that...
This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved for 4 years, as uimed at the realization of the lower part of an an...
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...