Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot
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Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
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 ...
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 ...
Co-evolution of morphology and control is a powerful approach in robotics to study performance on a particular task, considering mechanical structure and control as a whole to accomplish a certain goal. Co-evolutionary methods have been used to study the e ...
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 ...
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 ...
Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...
In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...
A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. R ...