8 search results - page 1 / 2 » Stable and robust walking with compliant legs |
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— Bipedal walking could be implemented into a robot by mimicking spring-like leg behaviour. The fundamental model, describing human-like leg function in walking is the bipedal sp...
IROS
2009
IEEE
13 years 11 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...
IROS
2006
IEEE
13 years 11 months ago
2006
IEEE
— There is much to gain from providing walking machines with passive dynamics, e.g. by including compliant elements in the structure. These elements can offer interesting propert...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the ...
ICRA
1999
IEEE
13 years 9 months ago
1999
IEEE
In our previous work we have shown that walking can be implemented on quadrupeds with sti legs and only one actuated degree of freedom in the hip, based on the concept of controll...