Robot Trotting with Segmented Legs in Simulation and Hardware.
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.
A single leg hopping robot has been constructed which includes a clutch in series with the hip motor and a prototype Linear Multi-Modal Actuator (LMMA) at the knee. The single leg will be used to test how the different actuation methods can improve the beh ...
Spring-like leg behavior was found in the global dynamics of human and animal running in sagittal plane. The corresponding template model, the conservative spring-loaded inverted pendulum (SLIP), shows stability for a large range of speeds and is, therefor ...
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 ...
This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and ...
Elsevier Science, Reg Sales Off, Customer Support Dept, 655 Ave Of The Americas, New York, Ny 10010 Usa2011
In nature, many small animals use jumping locomotion to move in rough terrain. Compared to other modes of ground locomotion, jumping allows an animal to overcome obstacles that are relatively large compared to its size. In this thesis we outline the main d ...
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 ...
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010
Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion ...
This paper describes a method to identify the extrinsic parameters of RGB-D cameras mounted on legged robots. Since the calculation of the parameters is based on the detection of the robots feet in the camera images, no special calibration objects are requ ...
This paper presents the actuation system of the robotic leg ScarlETH. It was developed specifically for a quadrupedal robot and is designed to achieve fast position control as well as accurate joint torque control. It introduces strong passive dynamics to ...
Stable locomotion that tolerates parameter variations is an important feature for legged robots. In this paper we introduce a locomotion control framework for legged robots that combines the well-known spring-loaded inverted pendulum (SLIP) with active hip ...
