Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2857511
Abstract: 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… read more here.
Keywords: slip; actuated quadruped; dynamic locomotion; compliantly actuated ... See more keywords
Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2017.2776314
Abstract: Physical compliance can be considered one of the key technical properties a robot should exhibit to increase its mechanical robustness. In addition, the accompanying temporal energy-storing capabilities enable explosive and energy efficient cyclic motions. But… read more here.
Keywords: control; actuated robots; esp control; compliantly actuated ... See more keywords