4 accepted papers
An intermittent controller, which alternates between phases of no control and feedback control, provides a robust, computationally and energetically efficient method by leveraging the robot's passive dynamics. However, this approach, especially during rapid motions and when facing disturbances, beco
Previous studies suggest that bipedal robots that have prismatic compliance in the legs can achieve efficient walking. However, how this efficiency can be achieved still remains an open research problem. In this study, we developed a 2-degree-of-freedom planar bipedal robot comprising Neidhart sprin…
Real-time planning of footsteps has been a big challenge for bipedal research. A large number of methods have been proposed over the last several years. In addition, divergent component of motion (DCM) of linear inverted pendulum (LIP) has been applied to solve this problem thus attracting a great d…
Applying humanoid robots in disaster sites requires strong locomotion abilities due to the cluttered and unstructured environment. Besides bipedal walking, it is beneficial to provide functionality to locomote on four limbs, and to control the transitions between bipedal and quadrupedal locomotion.…