8 search results - page 1 / 2 » Minimalistic control of a compass gait robot in rough terrai... |
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— Although there has been an increasing interest in dynamic bipedal locomotion for significant improvement of energy efficiency and dexterity of mobile robots in the real world...
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...
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
2007
IEEE
13 years 11 months ago
2007
IEEE
— We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific contr...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— While underactuated robotic systems are capable of energy efficient and rapid dynamic behavior, we still do not fully understand how body dynamics can be actively used for ada...