Add to ORKGThis paper introduces a framework for representing, generating, and then tuning gaits of legged robots. We introduce a convenient parametrization of gait generators as dynamical systems possessing designer specified stable limit cycles over an appropriate torus. This parametrization affords a continuous selection of operation within a coordination design plane, inspired by biology, spanned by axes that determine the mix of feedforward/feedback and centralized/decentralized control. Tuning the gait generator parameters through repeated physical experiments with our robot hexapod, RHex, determines the appropriate operating point - the mix of feedback and degree of control decentralization - to achieve significantly increased performance r...
How can we make a robot that can go anywhere on its own? This thesis presents several new behaviors ...
As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple...
Legged machines have the potential to traverse terrain that wheeled robots cannot. These capabilitie...
This paper introduces a framework for representing, generating, and then tuning gaits of legged robo...
This paper presents a general framework for representing and generating gaitsfor legged robots. We i...
As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple...
Developing control methods that allow legged robots to move with skill and agility remains one of th...
Gait parameter adaptation on a physical robot is an error-prone, tedious and time-consuming process....
We develop robust methods that allow specification, control, and transition of a multi-legged robot’s...
We discuss the gait generation and control architecture of a bioinspired climbing robot that present...
Serially connected robots are promising candidates for performing tasks in confined spaces such as s...
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer...
Legged robots have gained an increased attention these past decades since they offer a promising tec...
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for a...
Legged animals can traverse significantly more of the Earth\u27s land mass than man-made wheeled and...
How can we make a robot that can go anywhere on its own? This thesis presents several new behaviors ...
As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple...
Legged machines have the potential to traverse terrain that wheeled robots cannot. These capabilitie...
This paper introduces a framework for representing, generating, and then tuning gaits of legged robo...
This paper presents a general framework for representing and generating gaitsfor legged robots. We i...
As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple...
Developing control methods that allow legged robots to move with skill and agility remains one of th...
Gait parameter adaptation on a physical robot is an error-prone, tedious and time-consuming process....
We develop robust methods that allow specification, control, and transition of a multi-legged robot’s...
We discuss the gait generation and control architecture of a bioinspired climbing robot that present...
Serially connected robots are promising candidates for performing tasks in confined spaces such as s...
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer...
Legged robots have gained an increased attention these past decades since they offer a promising tec...
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for a...
Legged animals can traverse significantly more of the Earth\u27s land mass than man-made wheeled and...
How can we make a robot that can go anywhere on its own? This thesis presents several new behaviors ...
As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple...
Legged machines have the potential to traverse terrain that wheeled robots cannot. These capabilitie...