3 accepted papers
We consider the motion planning problem of a hopper navigating a terrain comprising stepping stones while optimizing an energy metric. The most widely used approach of discrete searches (e.g., A-star) cannot handle boundary conditions (e.g., end path constraints on position, velocity). However, cont…
We present a sampling-based framework for feedback motion planning of legged robots. Our framework is based on switching between limit cycles at a fixed instance of motion, the Poincaré section (e.g., apex or touchdown), by finding overlaps between the regions of attraction (ROA) of two limit cycles…
The main motivation of this paper is to understand the role of foot placement and ankle push-off control in stabilizing bipedal gaits. We modify the simplest walker (heavy torso, light legs) by incorporating a hip spring, a hip actuator, and a telescopic linear actuator. We consider two stability cr…