Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped 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 ...
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 ...
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: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...
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 ...
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 ...
