Morphologically induced stability on an underwater legged robot ...
A linear leg damper causes non-zero leg length velocities at TD/TO, which yield discontinuous damping forces. We introduce a bilinear damper.
Inertial and Aerodynamic Tail Steering of a Meso-scale Legged ...Previous efforts at turning in legged robots primarily have used leg force or velocity modulation. This work presents two novel methods of legged robot turning. THÈSE - LAASLegged robots occupy a special place in the robotics landscape. It might be because among all robots, they are by nature the closest to us due to their ... Trajectory optimization for legged robots with slipping motionsThe quadrupedal robot ANYmal tracking an optimized motion plan on a slippery surface. Contact forces are actively modulated to transition ...
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