3 accepted papers
In recent years, many different feedback controllers for robotic applications have been proposed and implemented. However, the high coupling between the different software modules made their integration into one common architecture difficult. Consequently, this has hindered the ability of a user to…
The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and
We propose a new algorithm capable of online regeneration of gait patterns. The algorithm uses a nonlinear optimization technique to find step parameters that will bring the robot from the present state to a desired state. It modifies online not only the footstep positions, but also the step timing…