We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the essential conditions for stable ...
— We present a method for computing controllers for stable planar-biped walking gaits that follow a particular style. The desired style is specified with a kinematic target traj...
— The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generat...
— 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...
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...