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Sensor-Based Legged Robot Homing Using Range-Only Target Localization
This paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple …
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Sensor-Based Legged Robot Homing Using Range-Only Target Localization
Quadruped Pronking on Compliant Terrains Using a Reaction Wheel
While legged locomotion is a rapidly advancing area in robotics, several issues regarding the performance of such robots on deformable …
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Quadruped Pronking on Compliant Terrains Using a Reaction Wheel
Towards Bipedal Behavior on a Quadrupedal Platform Using Optimal Control
This paper explores the applicability of a Linear Quadratic Regulator (LQR) controller design to the problem of bipedal stance on the …
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Towards Bipedal Behavior on a Quadrupedal Platform Using Optimal Control
Control and Energy Considerations for a Hopping Monopod on Rough Compliant Terrains
Terrain compliance is a critical parameter for the performance of legged locomotion. In this work, a single actuator monopod robot …
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Control and Energy Considerations for a Hopping Monopod on Rough Compliant Terrains
Monopod Hopping on Rough Planetary Environments
Recent successes of missions such as the MSL and the Rosetta have increased the interest in the robotic exploration of other planets …
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Monopod Hopping on Rough Planetary Environments
Compliant Terrain Legged Locomotion Using a Viscoplastic Approach
Legged locomotion is a rapidly advancing area in robotics, yet still a large number of open questions exist. This work focuses on the …
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Compliant Terrain Legged Locomotion Using a Viscoplastic Approach