Publication

Robust Walking Using Peicewise Linear Spring

Related publications (36)

Graph Chatbot

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

Adaptive Natural Oscillator to Exploit Natural Dynamics for Energy Efficiency

Auke Ijspeert, Mahdi Khoramshahi

We present a novel adaptive oscillator, called Adaptive Natural Oscillator (ANO), to exploit the natural dynamics of a given robotic system. This tool is built upon the Adaptive Frequency Oscillator (AFO), and it can be used as a pattern generator in robot ...

Elsevier2017

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

Jonas Buchli, Farbod Farshidian, Alexander Winkler

In this letter, we present a trajectory optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In c ...

2017

Quadrupedal robots have been a field of interest the last few years, with many new maturing platforms. Many of these projects have in common the use of state of the art actuation and sensing, and therefore are able to handle difficult locomotion tasks very ...

EPFL2016

, , , , ,

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

IEEE2015

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

Auke Ijspeert, Peter Eckert, Karl Weinmeister

A reliable concept for steering was realized by in- tegrating a spine-like structure with one DoF into a quadruped robot - Cheetah-cub-S. We increased maneuverability dramat- ically compared to a robot with rigid spine, while keeping controlling effort low ...

2015

Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots

Roland Siegwart, Marco Hutter

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 ...

2014

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 ...

IEEE2014

Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot

Roland Siegwart

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 ...

2014

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Auke Ijspeert, Massimo Vespignani, Mostafa Ajallooeian, Alexandre Tuleu

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 ...

2013

Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mostafa Ajallooeian, Alexandre Tuleu, Sébastien Gay

We are motivated to build simple controllers for quadruped robots to locomote over unperceived moderately difficult rough terrain at moderately fast speeds. The presented approach here does not need force sensing at feet, and does not need information abou ...

2013