Abstract— This paper introduces the concept of gait transitions, acyclic feedforward motion patterns that allow a robot to switch from one gait to another. Legged robots often ut...
— The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the sw...
Legged autonomous vehicles move by executing patterns of leg-joint angles known as gaits. Synthesizing gaits by hand is a complex and time-consuming task which becomes even more c...
In this study, we intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls and shift continuously ...
In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simpli ed robot dynamics that ignores the e ects of centripetal forces, we obtain u...
L. Roussel, Carlos Canudas de Wit, Ambarish Goswam...