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Robot Trotting with Segmented Legs in Simulation and Hardware.

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Extrinsic RGB-D camera calibration for legged robots

Roland Siegwart, Marco Hutter

This paper describes a method to identify the extrinsic parameters of RGB-D cameras mounted on legged robots. Since the calculation of the parameters is based on the detection of the robots feet in the camera images, no special calibration objects are requ ...

2011

High Compliant Series Elastic Actuation for the Robotic Leg ScarlETH

Roland Siegwart, Marco Hutter

This paper presents the actuation system of the robotic leg ScarlETH. It was developed specifically for a quadrupedal robot and is designed to achieve fast position control as well as accurate joint torque control. It introduces strong passive dynamics to ...

2011

Variable impedance actuation to increase the behavioural diversity of legged robots

Nitesh Maheshwari

A single leg hopping robot has been constructed which includes a clutch in series with the hip motor and a prototype Linear Multi-Modal Actuator (LMMA) at the knee. The single leg will be used to test how the different actuation methods can improve the beh ...

2011

Anchoring the SLIP template: The effect of leg mass on running stability

Auke Ijspeert, Soha Pouya, Rico Möckel

Spring-like leg behavior was found in the global dynamics of human and animal running in sagittal plane. The corresponding template model, the conservative spring-loaded inverted pendulum (SLIP), shows stability for a large range of speeds and is, therefor ...

2011

Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation

Auke Ijspeert, Soha Pouya, Rico Möckel

Stable locomotion that tolerates parameter variations is an important feature for legged robots. In this paper we introduce a locomotion control framework for legged robots that combines the well-known spring-loaded inverted pendulum (SLIP) with active hip ...

University Pierre et Marie Curie (UPMC)2011

A MATLAB Framework for Efficient Gait Creation

Roland Siegwart

This work introduces a framework for the creation and analysis of efficient gaits for legged systems based on the exploitation of natural dynamics. It summarizes the theory behind hybrid dynamic modeling, the identification of optimal periodic motions with ...

2011

Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control

Auke Ijspeert, Soha Pouya, Ebru Aydin

This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and ...

Elsevier Science, Reg Sales Off, Customer Support Dept, 655 Ave Of The Americas, New York, Ny 10010 Usa2011

Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom

Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Bioinspired Jumping Locomotion for Miniature Robotics

Mirko Kovac

In nature, many small animals use jumping locomotion to move in rough terrain. Compared to other modes of ground locomotion, jumping allows an animal to overcome obstacles that are relatively large compared to its size. In this thesis we outline the main d ...

EPFL2010

Axial dynamics during locomotion in vertebrates: lesson from the salamander

Auke Ijspeert

Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion ...

Elsevier2010