Trot Gait Locomotion of A Cat Sized Quadruped Robot
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An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...
This work introduces a framework for the creation and analysis of efficient gaits for legged systems based on the exploitation of natural dynamics. It summarizes the theory behind hybrid dynamic modeling, the identification of optimal periodic motions with ...
Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...
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Strategies for hybrid locomotion such as jumping and gliding are used in nature by many different animals for traveling over rough terrain. This combination of locomotion modes also allows small robots to overcome relatively large obstacles at a minimal en ...
Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
Summary: Using our ambulatory monitoring system, ASUR, 13 Parkinsonian patients were monitored for periods of up to 5 hours while they were free to perform activities at will. Every one hour patients did a UPDRS test as the clinical assessment. During the ...