In this study, we intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls and shift continuously ...
— It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction b...
— 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...
Jonas Buchli, Mrinal Kalakrishnan, Michael Mistry,...