Add to ORKGWe present a general method for determining con-trollability of a class of kinematic legged robots. The method is general in that it is independent of the robot’s morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the realization that legged robot configuration spaces are stratified. The re-sult is illustrated with a simple example.
Recent developments in legged robotics have found that constant stiffness passive compliant legs are...
We show how motion planning and control ideas for smooth nonholonomic systems can be extended to leg...
Recent developments in legged robotics have found that constant stiffness passive compliant legs are...
We present a general method for determining controllability of a class of kinematic legged robots. T...
We present a general method for determining controllability of a class of kinematic legged robots. T...
Abstract—This paper considers nonlinear kinematic controlla-bility of a class of systems called stra...
This paper considers nonlinear kinematic controllability of a class of systems called stratified. Ro...
This three-part paper discusses the analysis and control of legged locomotion in terms of N-step cap...
Abstract. We present a general trajectory gener-ation scheme for a class of “kinematic ” legged robo...
We present a general trajectory generation scheme for a class of "kinematic" legged robots. The meth...
We address the problem of gait generation for a six-legged robot walking on irregular terrain and su...
This thesis is about control and balance stability of leggedlocomotion. It also presents a combinati...
This paper describes the study of algorithms to obtain static or marginally static gaits. Some of th...
Abstract: Nature has the best design, which has evolved over millennia for sustainability. The curre...
This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion sy...
Recent developments in legged robotics have found that constant stiffness passive compliant legs are...
We show how motion planning and control ideas for smooth nonholonomic systems can be extended to leg...
Recent developments in legged robotics have found that constant stiffness passive compliant legs are...
We present a general method for determining controllability of a class of kinematic legged robots. T...
We present a general method for determining controllability of a class of kinematic legged robots. T...
Abstract—This paper considers nonlinear kinematic controlla-bility of a class of systems called stra...
This paper considers nonlinear kinematic controllability of a class of systems called stratified. Ro...
This three-part paper discusses the analysis and control of legged locomotion in terms of N-step cap...
Abstract. We present a general trajectory gener-ation scheme for a class of “kinematic ” legged robo...
We present a general trajectory generation scheme for a class of "kinematic" legged robots. The meth...
We address the problem of gait generation for a six-legged robot walking on irregular terrain and su...
This thesis is about control and balance stability of leggedlocomotion. It also presents a combinati...
This paper describes the study of algorithms to obtain static or marginally static gaits. Some of th...
Abstract: Nature has the best design, which has evolved over millennia for sustainability. The curre...
This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion sy...
Recent developments in legged robotics have found that constant stiffness passive compliant legs are...
We show how motion planning and control ideas for smooth nonholonomic systems can be extended to leg...
Recent developments in legged robotics have found that constant stiffness passive compliant legs are...
