3 accepted papers
We report on the development of a robot's dynamic bounding locomotion based on a sagittal plane model that fits the robot's natural dynamics. The proposed model, referred to as the Two-rolling-leg (TRL) model, is a low degree-of-freedom planar rigid-body model with two rolling and compliant legs. Th
We report on the development of a dynamic gait in a robot based on a sagittal-plane and reduced-order model that fits the natural dynamics of the robot. The proposed model, referred to as the two-rolling-legs model with waist actuation (TRLW), consists of two rolling and compliant legs and two rigid…
We report on a model-based approach for robot design and its dynamic motion generation. A new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP) is proposed to serve as the motion template for the robot. It is a successor to a previously developed sprin…