Overcoming barriers and increasing independence–service robots for elderly and disabled people
M Hersh - International Journal of Advanced Robotic …, 2015 - journals.sagepub.com
The paper discusses the potential of assistive service robots to support disabled and elderly
people. It shows that they have considerable untapped potential in this area, but also that …
people. It shows that they have considerable untapped potential in this area, but also that …
Quadrupedal locomotion using hierarchical operational space control
This paper presents the application of operational space control based on hierarchical task
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
Constrained multilegged robot system modeling and fuzzy control with uncertain kinematics and dynamics incorporating foot force optimization
This paper studies the optimal distribution of feet forces and control of multilegged robots
with uncertainties in both kinematics and dynamics. First, a constrained dynamics for …
with uncertainties in both kinematics and dynamics. First, a constrained dynamics for …
Symmetries in observer design: Review of some recent results and applications to EKF-based SLAM
S Bonnabel - Robot Motion and Control 2011, 2012 - Springer
In this paper, we first review the theory of symmetry-preserving observers and we mention
some recent results. Then, we apply the theory to Extended Kalman Filter-based …
some recent results. Then, we apply the theory to Extended Kalman Filter-based …
Contact-force distribution optimization and control for quadruped robots using both gradient and adaptive neural networks
This paper investigates optimal feet forces' distribution and control of quadruped robots
under external disturbance forces. First, we formulate a constrained dynamics of quadruped …
under external disturbance forces. First, we formulate a constrained dynamics of quadruped …
[PDF][PDF] StarlETH & Co.: Design and control of legged robots with compliant actuation
M Hutter - 2013 - research-collection.ethz.ch
The present dissertation addresses the design and control of a quadrupedal robot that
achieves locomotion skills ranging from static walking to dynamic running. By combining …
achieves locomotion skills ranging from static walking to dynamic running. By combining …
Dynamic modeling, stability and energy consumption analysis of a realistic six-legged walking robot
SS Roy, DK Pratihar - Robotics and Computer-Integrated Manufacturing, 2013 - Elsevier
This paper deals with a detailed analysis on kinematics, dynamics, stability and energy
consumption of a realistic six-legged robot. The aim of this study is to extend a previous work …
consumption of a realistic six-legged robot. The aim of this study is to extend a previous work …
Hybrid operational space control for compliant legged systems
This paper introduces the concept of hybrid operational space control, a method that unifies
kinematic tracking of individual joints with an inverse dynamics task space controller for the …
kinematic tracking of individual joints with an inverse dynamics task space controller for the …
Development of a walking machine: mechanical design and control problems
T Zielinska, J Heng - Mechatronics, 2002 - Elsevier
This paper describes: a novel design of the leg drive mechanism, hardware architecture and
the leg control method for a walking machine being developed to study various walking gait …
the leg control method for a walking machine being developed to study various walking gait …
Modeling and effective foot force distribution for the legs of a quadruped robot
P Biswal, PK Mohanty - Robotica, 2021 - cambridge.org
This paper presents the detailed dynamic modeling of a quadruped robot. The forward and
inverse kinematic analysis of each leg of the proposed model is deduced using Denavit …
inverse kinematic analysis of each leg of the proposed model is deduced using Denavit …