Modeling and control of legged robots
The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …
Type design and behavior control for six legged robots
L Fang, F Gao - Chinese Journal of Mechanical Engineering, 2018 - Springer
The research on legged robots attracted much attention both from the academia and
industry. Legged robots are multi-input multi-output with multiple end-effector systems …
industry. Legged robots are multi-input multi-output with multiple end-effector systems …
Fast humanoid robot collision-free footstep planning using swept volume approximations
In this paper, we propose a novel and coherent framework for fast footstep planning for
legged robots on a flat ground with 3-D obstacle avoidance. We use swept volume …
legged robots on a flat ground with 3-D obstacle avoidance. We use swept volume …
Bipedal locomotion: toward unified concepts in robotics and neuroscience
C Azevedo, B Espiau, B Amblard, C Assaiante - Biological Cybernetics, 2007 - Springer
This review is the result of a joint reflection carried out by researchers in the fields of robotics
and automatic control on the one hand and neuroscience on the other, both trying to answer …
and automatic control on the one hand and neuroscience on the other, both trying to answer …
Underactuated dynamic three-dimensional bipedal walking
G Song, M Zefran - … on Robotics and Automation, 2006. ICRA …, 2006 - ieeexplore.ieee.org
The main contribution of this work is a method for robust stabilization of three-dimensional
bipedal walking robots with more than one degree of under-actuation. The general …
bipedal walking robots with more than one degree of under-actuation. The general …
[图书][B] Human-like control of dynamically walking bipedal robots
T Luksch - 2010 - Citeseer
Despite several decades of research, locomotion of bipedal robots is still far from achieving
the graceful motions and the dexterity observed in human walking. Most of today's bipeds …
the graceful motions and the dexterity observed in human walking. Most of today's bipeds …
Walking navigation system of humanoid robot using stereo vision based floor recognition and path planning with multi-layered body image
To realize humanoid robots in unknown environment, sensor based navigation system is
required as one of an essential function. This paper describes vision-based navigation …
required as one of an essential function. This paper describes vision-based navigation …
Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box
In this paper we introduce a new bounding box method for footstep planning for humanoid
robots. Similar to the classic bounding box method (which uses a single rectangular box to …
robots. Similar to the classic bounding box method (which uses a single rectangular box to …
[PDF][PDF] Towards an autonomous, humanoid, and dynamically walking robot: Modeling, optimal trajectory planning, hardware architecture, and experiments
M Buss, M Hardt, J Kiener, M Sobotka… - Proc IEEE/RAS …, 2003 - lars.mec.ua.pt
The development process to achieve walking motion with a recently constructed humanoid
robot is discussed. The desired motion is based on the solution of an optimal control …
robot is discussed. The desired motion is based on the solution of an optimal control …
Continuous legged locomotion planning
While only continuous motions are possible, the way in which contacts appear and
disappear confers to legged locomotion a characteristic discontinuous nature that is …
disappear confers to legged locomotion a characteristic discontinuous nature that is …