Extrinsic RGB-D camera calibration for legged robots
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Legged robots come in a range of sizes and capabilities. By combining these robots into heterogeneous teams, joint locomotion and perception tasks can be achieved by utilizing the diversified features of each robot. In this work we present a framework for ...
Humanoid robots are currently still far from reaching the impressive human walking capabilities. Among the different methods used to design walking controllers, those based on the Zero-Moment Point (ZMP) criterion are among the most popular, even if they i ...
This paper introduces a novel batch optimization based calibration framework for legged robots. Given a nondegenerate calibration dataset and considering the stochastic models of the sensors, the task is formulated as a maximum likelihood problem. In order ...
We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...
Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...
In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...
A state-of-the-art simulation technique that solves the equations of motion together with the set-valued contact and impulse laws by the time-stepping scheme of Moreau is introduced to the legged robotics community. An analysis is given that shows which of ...
This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks. The morphology of a quadrupedal robot was optimized for a trotting and bounding gait to achieve ...
Developing control methods that allow legged robots to move with skill and agility remains one of the grand challenges in robotics. In order to achieve this ambitious goal, legged robots must possess a wide repertoire of motor skills. A scalable control ar ...
The process of finding working gaits for legged robots always, to different extents, includes manual tuning, systematic search, or optimization of control parameters. This process populates a dataset of control parameter vectors and respective robot behavi ...