5 accepted papers
Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planni…
The paper addresses the static balancing and walking of elastically actuated legged robots. The control is realized by commanding the motor positions only and exploiting the bijective relation between motor and link positions at equilibrium under static external forces. The approach is formulated in…
Motion planning for fast locomotion of compliantly actuated robotic legs is generally considered to be a challenging issue, posing considerable real-time problems. This is at least the case if time-continuous trajectories need to be generated online. In this paper we take advantage of a simple contr…
The spring loaded inverted pendulum (SLIP) model has been extensively shown to be fundamental for legged locomotion. However, the way this low-order template model dynamics is anchored in high-dimensional articulated multibody systems describing compliantly actuated robots (and animals) is not obvio
We address the operation of robotic legs with intrinsic elasticity in hopping cycles determined by the mechanical resonant properties of the system. This ensures energy efficiency and high jumping velocity and distance. Recently, we have shown in simulation that a simple, biologically inspired bang-…