: This paper describes experiments with an electrically actuated one legged hopping robot, the ARL Monopod. While a spring-mass system, comprised of the leg spring and the body mas...
Abstract— We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passi...
We demonstrate an adaptation strategy for adjusting the stride period in a hexapedal running robot. The robot is inspired by discoveries about the self-stabilizing properties of i...
Jonathan K. Karpick, Jorge G. Cham, Jonathan E. Cl...