Model-Based Proprioceptive State Estimation for Spring-Mass ...
The template comprises a rigid torso and four rigid legs which engage in an alternat- ing tetrapod gait. As the gait is executed, the torso and the legs form ...
A Template for Miniature Legged Robots in Quasi-Static MotionThe U-SLIP model is made of a point-mass body subjected to hydrodynamic forces, and a massless leg which can be radially elongated upon contact. Two phases are. Morphologically Induced Stability on an Underwater Legged Robot ...This paper presents a set of algorithms for control of a machine that runs and balances on one leg in 3D, and it describes experiments that evaluate their ... Dynamically Stable Legged Locomotion - CMU Robotics InstituteThis large, flat bone is an attachment point for many muscles in the upper limb and provides some freedom of positioning and orienting the ...
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