ICRA
2010
IEEE
2010
IEEE
Spring Loaded Inverted Pendulum embedding: Extensions toward the control of compliant running robots
13 years 3 months ago
This paper explores systematic control strategies for the stabilization of running on compliant robots with nontrivial torso pitch dynamics. The Spring Loaded Inverted Pendulum (SL...
AR
2010
13 years 5 months ago
2010
This paper introduces a novel method for slip angle estimation based on visually observing the traces produced by the wheels of a robot on soft, deformable terrain. The proposed a...
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
— In this paper we predict the amount of slip an exploration rover would experience using stereo imagery by learning from previous examples of traversing similar terrain. To do t...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— This paper presents slope traversal experiments with slip compensation control for lunar/planetary exploration rovers. On loose soil, wheels of the rover easily slip even when ...