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Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

Related concepts (33)

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Boston Dynamics

Boston Dynamics is an American engineering and robotics design company founded in 1992 as a spin-off from the Massachusetts Institute of Technology. Headquartered in Waltham, Massachusetts, Boston Dynamics has been owned by the Hyundai Motor Group since December 2020, but having only completed the acquisition in June 2021. Boston Dynamics develops of a series of dynamic highly mobile robots, including BigDog, Spot, Atlas, and Handle.

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

L (complexity)

In computational complexity theory, L (also known as LSPACE or DLOGSPACE) is the complexity class containing decision problems that can be solved by a deterministic Turing machine using a logarithmic amount of writable memory space. Formally, the Turing machine has two tapes, one of which encodes the input and can only be read, whereas the other tape has logarithmic size but can be read as well as written. Logarithmic space is sufficient to hold a constant number of pointers into the input and a logarithmic number of boolean flags, and many basic logspace algorithms use the memory in this way.

P (complexity)

In computational complexity theory, P, also known as PTIME or DTIME(nO(1)), is a fundamental complexity class. It contains all decision problems that can be solved by a deterministic Turing machine using a polynomial amount of computation time, or polynomial time. Cobham's thesis holds that P is the class of computational problems that are "efficiently solvable" or "tractable". This is inexact: in practice, some problems not known to be in P have practical solutions, and some that are in P do not, but this is a useful rule of thumb.

Inverse kinematics

In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.

Trot

The trot is a two-beat diagonal horse gait where the diagonal pairs of legs move forward at the same time with a moment of suspension between each beat. It has a wide variation in possible speeds, but averages about . A very slow trot is sometimes referred to as a jog. An extremely fast trot has no special name, but in harness racing, the trot of a Standardbred is faster than the gallop of the average non-racehorse, and has been clocked at over .

Powered exoskeleton

A powered exoskeleton (also known as power armor, powered armor, powered suit, cybernetic suit, robot armor, robot suit, high-tech armor, robotic armor, robot armor suit, cybernetic armor, exosuit, hardsuit, exoframe or augmented mobility) is a mobile machine that is wearable over all or part of the human body, providing ergonomic structural support and powered by a system of electric motors, pneumatics, levers, hydraulics or a combination of cybernetic technologies, while allowing for sufficient limb movem

Motor coordination

In physiology, motor coordination is the orchestrated movement of multiple body parts as required to accomplish intended actions, like walking. This coordination is achieved by adjusting kinematic and kinetic parameters associated with each body part involved in the intended movement. The modifications of these parameters typically relies on sensory feedback from one or more sensory modalities (see multisensory integration), such as proprioception and vision.

Computational complexity theory

In theoretical computer science and mathematics, computational complexity theory focuses on classifying computational problems according to their resource usage, and relating these classes to each other. A computational problem is a task solved by a computer. A computation problem is solvable by mechanical application of mathematical steps, such as an algorithm. A problem is regarded as inherently difficult if its solution requires significant resources, whatever the algorithm used.

Circuit complexity

In theoretical computer science, circuit complexity is a branch of computational complexity theory in which Boolean functions are classified according to the size or depth of the Boolean circuits that compute them. A related notion is the circuit complexity of a recursive language that is decided by a uniform family of circuits (see below). Proving lower bounds on size of Boolean circuits computing explicit Boolean functions is a popular approach to separating complexity classes.