IJRR
2011
12 years 11 months ago
2011
— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot ...
IJRR
2007
13 years 4 months ago
2007
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-t...
ISER
2004
Springer
13 years 9 months ago
2004
Springer
We describe crawling and jumping by a deformable robot. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg mechanisms. This pap...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
Abstract— We describe circular/spherical robots for crawling and jumping. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg ...
ROBOCUP
2007
Springer
13 years 10 months ago
2007
Springer
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the ...
IROS
2007
IEEE
13 years 10 months ago
2007
IEEE
Abstract— To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed ...
IROS
2007
IEEE
13 years 10 months ago
2007
IEEE
— In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use ...
IROS
2007
IEEE
13 years 10 months ago
2007
IEEE
—An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional robots h...
ICRA
2007
IEEE
13 years 10 months ago
2007
IEEE
— We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific contr...