70 search results - page 2 / 14 » Motion Planning for Legged Robots on Varied Terrain |
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
— A legged robot walking on uneven terrain can avoid falling only by applying contact forces with its feet on the ground that compensate for gravity without causing slip. To plan...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms t...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— Trotting and galloping allow a quadruped to rapidly traverse rough terrain. Modeling this motion, which is only dynamically stable, is of importance for legged robot operation ...
AROBOTS
2002
13 years 5 months ago
2002
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...
IROS
2009
IEEE
13 years 12 months ago
2009
IEEE
— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...