3 accepted papers
This letter presents the prototype of a human-sized, untethered athletic hopping and balancing underactuated monopedal robot designed to withstand crash landings. Experimental results in 2D of the robot balancing on an unstable contact point, hopping vertically, landing back, and balancing within a
This letter presents a controller for robots that balance in a vertical plane on a rolling contact on a flat horizontal surface. It is an extension of Featherstone's balance controller to the case of robots that balance on rounded feet or wheels. Simulation results demonstrate the ability of the new
This paper demonstrates the practical performance of a new theory of balance control that has been shown in simulation to out-perform earlier balance control theories in the sense of allowing the robot to make larger and faster movements while still maintaining its balance. The case studied here is…