Pronto: a Multi-Sensor State Estimator for Legged Robots in Real ...
In most legged robots, detection of touchdown and liftoff for individual legs is relatively straight- forward, either through motor armature current ...
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 ...
Autres Cours:
