59 search results - page 1 / 12 » Towards a Factored Analysis of Legged Locomotion Models |
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of th...
ROBOTICA
2008
13 years 5 months ago
2008
This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion systems based on its kinematic and dynamic models. The purpose is to determine the...
IROS
2006
IEEE
13 years 11 months ago
2006
IEEE
— Motivated by an error-recovery locomotion problem, we propose a control technique for a complex mechanical system by decomposing the system dynamics into a collection of simpli...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— Passive dynamics plays an important role in legged locomotion of the biological systems. The use of passive dynamics is expected for energy efficiency, self-stabilization agai...
SMC
2007
IEEE
13 years 11 months ago
2007
IEEE
– In this paper, we present a hierarchical methodology that learns new walking gaits autonomously while operating in an uncharted environment, such as on the Mars planetary surfa...