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» Time Optimal Control for Quadruped Walking Robots
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ICRA
2006
IEEE
130views Robotics» more  ICRA 2006»
10 years 5 months ago
Time Optimal Control for Quadruped Walking Robots
- Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optim...
Hisashi Osumi, Shogo Kamiya, Hirokazu Kato, Kazuno...
ICRA
1999
IEEE
118views Robotics» more  ICRA 1999»
10 years 4 months ago
Stable Open Loop Walking in Quadruped Robots with Stick Legs
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...
Martin Buehler, A. Cocosco, K. Yamazaki, R. Battag...
IJCNN
2000
IEEE
10 years 4 months ago
Biologically Inspired Neural Controllers for Motor Control in a Quadruped Robot
This paper presents biologically inspired neural controllers for generating motor patterns in a quadruped robot. Sets of arti cial neural networks are presented which provide 1 p...
Aude Billard, Auke Jan Ijspeert
IJRR
2010
93views more  IJRR 2010»
9 years 10 months ago
Stability Analysis of Passive Dynamic Walking of Quadrupeds
We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods a...
C. David Remy, Keith W. Buffinton, Roland Siegwart
IROS
2009
IEEE
187views Robotics» more  IROS 2009»
10 years 6 months ago
Compliant quadruped locomotion over rough terrain
— 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,...
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