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Bipedal walking and push recovery with a stepping strategy based on time-projection control

Related publications (43)

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Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal leve ...

EPFL2018

Towards Robust Bipedal Locomotion

Salman Faraji

Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...

EPFL2018

Accelerated Sensorimotor Learning of Compliant Movement Primitives

Auke Ijspeert, Tadej Petric, Luca Colasanto

Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2018

Spine Controller for a Sprawling Posture Robot

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat

More and more biologically inspired robots present spines with multiples degrees of freedom to resemble their biological counterparts. The function of the spine on both animal and robot can play an important role in locomotion. If it has enough degrees of ...

2017

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Auke Ijspeert, Jessica Lanini

This paper investigates the interactive locomotion for physically coupled bipedal agents using a human-human object carrying experiment and a simple mathematical model. The model is based on the Spring Loaded Inverted Pendulum (SLIP) and on the assumption ...

Springer International Publishing Ag2017

Mechanical Stability Margin for Scouting Poses in Modular Snake Robots

Kamilo Andres Melo Becerra

This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...

Ieee2016

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Robin Thandiackal, Konstantinos Karakasiliotis, Laura Deanne Fleury

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

IEEE2015

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Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...

2015