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IEEE Transactions on Robotics, ISSN 1552-3098, 08/2019, Volume 35, Issue 4, pp. 939 - 952
Properly designing a system to exhibit favorable natural dynamics can greatly simplify designing or learning the control policy. However, it is still unclear... 
Legged locomotion | physical design | Computational modeling | robot control | Limit-cycles | Aerospace electronics | robust control | Robustness | robot learning | Springs | nonlinear dynamical systems | viability | DESIGN | ROBOTICS | SPRING-MASS MODEL | STABILITY | REVEALS | Computer Science - Robotics
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 7/2013, Volume 32, Issue 8, pp. 932 - 950
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 10/2016, Volume 35, Issue 12, pp. 1497 - 1521
ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running. To help bring the... 
passive dynamics | bipedal locomotion | hopping | compliance | walking | mechanical design | ROBOTICS | MODEL | SPEED | LEGGED LOCOMOTION | FORCE CONTROL | TORQUE | HYBRID ZERO DYNAMICS | Robotics | Research | Walking | Robots | Studies | Design engineering | Locomotion | Gait | Specifications | Dynamics | Running | Aerials | Three dimensional models | Atria
Journal Article
Frontiers in Robotics and AI, ISSN 2296-9144, 06/2018, Volume 5
Front. Robot. AI 5:67 (2018) We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of... 
open-loop | ANIMALS | multiple gaits | DESIGN | IMPLEMENTATION | LOCOMOTION | open-source | MODEL | MIT CHEETAH | robot | MOTION | turning | pantograph | quadruped | PATTERN GENERATORS | EFFICIENT | pattern generator | Open-source | Pattern generator | Pantograph | Turning | Quadruped | Multiple gaits | Robot | Open-loop | Design and construction | Research | Mobile robots | Robotics | Computer Science - Robotics
Journal Article
FRONTIERS IN NEUROROBOTICS, ISSN 1662-5218, 08/2019, Volume 13, p. 64
We investigate the role of lower leg muscle-tendon structures in providing serial elastic behavior to the hip actuator. We present a leg design with physical... 
WALKING | ENERGY | DESIGN | TERRAIN | locomotion | QUADRUPED ROBOT | robotics | POWER | GAITS | NEUROSCIENCES | COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE | SPEED | series elastics | leg design | energy efficiency | biarticular | DYNAMICS | intrinsic compliance | bioinspired robotics | Legs | Compliance | Body weight | Energy requirements | Hip | Robotics | Leg | Posture | Design | Locomotion | Walking | Body height | Morphology | Kinematics | International conferences | Energy efficiency | Robots
Journal Article
Acta Astronautica, ISSN 0094-5765, 03/2019, Volume 156, pp. 330 - 362
Journal Article
05/2020
In this paper we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to... 
Computer Science - Robotics
Journal Article
09/2019
Creating natural-looking running gaits for humanoid robots is a complex task due to the underactuated degree of freedom in the trunk, which makes the motion... 
Computer Science - Robotics
Journal Article
BIOINSPIRATION & BIOMIMETICS, ISSN 1748-3182, 05/2020, Volume 15, Issue 3, p. 036013
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running... 
ground reaction force modulation | MATERIALS SCIENCE, BIOMATERIALS | ROBOTICS | trunk motion | SIZE | virtual point | postural control | bipedal locomotion | spring mass model | SPEED | MECHANICS | POSTURE | ENGINEERING, MULTIDISCIPLINARY | MASS | OSTRICH | TERRESTRIAL LOCOMOTION | QUAIL | BODY | bilinear damping | Computer Science - Robotics
Journal Article
10/2019
Failures are challenging for learning to control physical systems since they risk damage, time-consuming resets, and often provide little gradient information.... 
Journal Article
IEEE Computational Intelligence Magazine, ISSN 1556-603X, 08/2010, Volume 5, Issue 3, pp. 20 - 32
Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our... 
Legged locomotion | Runtime | Shape | Animal structures | Distributed control | Broadcasting | Control systems | Hardware | Robots | Centralized control | LOCOMOTION | CENTRAL PATTERN GENERATORS | COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE | Studies | Optimization algorithms | Locomotion | Construction | Modules | Furniture | Joints | Optimization | Reconfiguration
Journal Article
04/2020
Postural stability is one of the most crucial elements in bipedal locomotion. Bipeds are dynamically unstable and need to maintain their trunk upright against... 
Journal Article
2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 05/2018, pp. 55 - 61
Despite impressive results using reinforcement learning to solve complex problems from scratch, in robotics this has still been largely limited to model-based... 
Legged locomotion | Hardware | Biological system modeling | Computational modeling | Kernel | Limit-cycles
Conference Proceeding
Advanced Robotics, ISSN 0169-1864, 01/2006, Volume 20, Issue 8, pp. 953 - 961
A novel and low-cost passively compliant mechanism is described that can be used with RC servos to actuate legged robots in tasks involving high dynamic loads... 
ELASTOMER SPRING | ROBOT BOUNCING | LEGGED ROBOT | PASSIVE COMPLIANCE | Elastomer spring | Legged robot | Passive compliance | Robot bouncing | LOCOMOTION | ROBOTICS | passive compliance | robot bouncing | elastomer spring | legged robot
Journal Article
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 10/2019, pp. 531 - 536
Creating natural-looking running gaits for humanoid robots is a complex task due to the underactuated degree of freedom in the trunk, which makes the motion... 
Conference Proceeding
IEEE Transactions on Robotics, ISSN 1552-3098, 10/2015, Volume 31, Issue 5, pp. 1244 - 1251
A common approach in designing legged robots is to build fully actuated machines and control the machine dynamics entirely in software, carefully avoiding... 
Legged locomotion | motion control | Force | Dynamics | passive dynamics | Biologically inspired robots | Mathematical model | legged robots | Springs | Hip | force control | Passive dynamics | LEGGED LOCOMOTION | WALKING | ROBOTICS | STABILITY | MODEL | EFFICIENT
Journal Article
05/2020
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping... 
Computer Science - Robotics
Journal Article
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