5 search results - page 1 / 1 » Heterogeneous Leg Stiffness and Roll in Dynamic Running |
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— Legged robots are by nature strongly non-linear, high-dimensional systems whose full complexity permits neither tractable mathematical analysis nor comprehensive numerical stud...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g. surface) changes. In this paper we examine the relationship betwee...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property o...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
Abstract— In this paper, an attitude control strategy is developed for a high-speed quadruped trot. The forces in the trot are redistributed among the legs to stabilize the pitch...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
— A new 3D biped prototype with small DOF, SKIPPER, was developed. As an important component of a running controller for this robot, an aerial posture controller is presented. Th...