Trajectory optimization for legged robots with slipping motions
The quadrupedal robot ANYmal tracking an optimized motion plan on a slippery surface. Contact forces are actively modulated to transition ...
sensors-24-01636-v2.pdf - TU Delft Research PortalAbstract: This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their ... Control of a Robotic Leg for Walking on Irregular SurfacesWe present an articulated walking model based on the inverted pendulum, with massless rigid legs, capable of walking on irregular surfaces. The step of the ... Discrete-Time Hybrid Automata Learning: Legged Locomotion ...Abstract?Hybrid dynamical systems, which include contin- uous flow and discrete mode switching, can model robotics tasks like legged robot locomotion.
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