Motion synthesis in a dynamic environment has been a long-standing problem for character animation. Methods using motion capture data tend to scale poorly in complex environments because of their larger capturing and labeling requirement. Physics-based ...

This paper investigates practical solutions for low-bandwidth, teleoperated mobility for RoboSimian in complex environments. Locomotion planning for this robot is challenging due to kinematic redundancy. We present an end-to-end planning method that ...

This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion. We show how the behavior of a complex robotic machine can be described by a simple set of least squares problems with ...

Legged robots are uniquely privileged over their wheeled counterparts in their potential to access rugged terrain. However, designing walking gaits by hand for legged robots is a difficult and time-consuming process, so we seek algorithms ...

The bounding gait for the Platform for Ambulating Wheels (PAW), a new and unique hybrid wheeled-leg system is presented. Two hypotheses are tested and discussed: first, that the robot's forward speed can be increased by increasing the leg liftoff angles ...

In order to achieve powered autonomous running robots it is essential to develop efficient actuator systems, especially for generating the radial thrust in the legs. In addition, the control of the radial thrust of the legs can be a simple, effective ...

Fault-tolerant gaits in robot's locomotion are defined as gaits with which legged robot can continue their walking after a failure event occurs to a leg of the robot. This means that for a given type of failure, the problem of finding fault-tolerant ...

The paper reports on a project to make a quadruped robot walk with medium forward speed on irregular terrain in an outdoor environment using a neural system model. The necessary conditions for stable dynamic walking on irregular terrain in general are ...

The effect of asymmetrical body-mass distribution on the stability and dynamics of two-degree-of-freedom quadruped bounding in place is investigated in this study. An analytical stability criterion for bounding of quadrupeds with asymmetrical mass ...