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The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total...
The development of an oscillator controller for a bipedal robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total...
In this paper we present the system design and analysis of a quadruped robot, Rush, that we have constructed to study autonomous and efficient running on flat and rough terrain. The Rush robot is a compact, kneed, four legged machine with only one actuator per compliant leg. We have proposed a novel control strategy for the quadruped robot in consideration of several engineering limitations on sensory...
The authors propose a simulation method to clarify the developmental process of human locomotion by using a model of an infant robot. The infant robot has many degrees of freedom. By making constraints and coordinating many DOF by using "intensions" such as "want to stay sitting," or "want to move more forward," etc., various motion patterns emerge according to a particular...
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