Pattern generators with sensory feedback for the control of quadruped locomotion
Graph Chatbot
Chattez avec Graph Search
Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.
AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...
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 ...
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 ...
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 ...
Human locomotion shows fascinating abilities which are the results of the interplay between the environment, the biomechanics, the spinal cord, and modulation from higher control centers. How the different structures interact to generate meaningful behavio ...
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast motion planning ...
Gaits in legged robots are often hand tuned and time based, either explicitly or through an internal clock, for instance, in the form of central pattern generators. This strategy requires trial and error to identify leg timings, which may not be suitable i ...
Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making sub-gram autonomous soft robots, untethered and capable of responding inte ...
Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspect ...
A sprawled posture amphibious biorobot resembling a salamander had helped us in conquering scientific questions of the locomotion of these animals and offer us with technological possibilities for applications in disaster response. However, so far the foot ...