Enabling robots to walk and run on yielding terrain is vital to endeavors ranging from
disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid …

Jumping animals launch themselves from surfaces that vary widely in compliance from
grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely …

Evidence from empirical literature suggests that explainable complex behaviors can be built
from structured compositions of explainable component behaviors with known properties …

We work with geoscientists studying erosion and desertification to improve the spatial and
temporal resolution of their data collection over long transects in difficult realworld …

Legged robot locomotion is hindered by a mismatch between applications where legs can
outperform wheels or treads, most of which feature deformable substrates, and existing tools …

We discuss an active damping controller to reduce the energetic cost of a single step or
jump of dynamic locomotion without changing the morphology of the robot. The active …

Compared to wheeled and tracked robots, legged robots like quadruped robots have much
more degrees of freedom, which makes them capable to maintain a constant posture on …

Mechanical and virtual compliance for robot locomotion in a compliant world Page 1
Mechanical and virtual compliance for robot locomotion in a compliant world Sonia Roberts …

Legged locomotion on deformable terrain is a challenging and open robo-physics problem
since the uncertainty in terrain dynamics introduced by ground deformation complicates the …

A Gibsonian theory of affordances commits to direct perception and the mutuality of the
agent-environment system. We argue that there already exists a research program in …