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This paper presents a state estimation approach for legged robots based on stochastic filtering. The key idea is to extract information from the kinematic constraints given through the intermittent contacts with the ground and to fuse this information with ...
This paper presents the application of reinforcement learning to improve the performance of highly dynamic single legged locomotion with compliant series elastic actuators. The goal is to optimally exploit the capabilities of the hardware in terms of maxim ...
This paper presents the latest advances we made in static and dynamic locomotion with our compliant quadrupedal robot StarlETH. It summarizes the robot design and outlines the different underlying control principles used to achieve sophisticated locomotion ...
Quadrupedal animals move through their environments with unmatched agility and grace. An important part of this is the ability to choose between different gaits in order to travel optimally at a certain speed or to robustly deal with unanticipated perturba ...
The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is impor ...
In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff act ...
This paper introduces the concept of hybrid operational space control, a method that unifies kinematic tracking of individual joints with an inverse dynamics task space controller for the remainder of the robot. The proposed control strategy allows for a h ...
The exploitation of EEG signatures of cognitive processes can provide valuable information to improve interaction with brain actuated devices. In this work we study these correlates in a realistic situation simulated in a virtual reality environment. We fo ...
This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment. This is achieved by means of an Observability Constrai ...
Drawing inspiration from nature, this paper introduces and compares two compliant robotic legs that are able to perform precise joint torque and position control, enable passive adaption to the environment, and allowfor the exploitation of natural dynamic ...
Institute of Electrical and Electronics Engineers2013
