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The interest of series elastic actuators (SEAs) for legged robots has recently increased to achieve compliant interactions and efficient gaits. However, control of legged robots with SEAs is difficult due to the need to design controllers that take into account both torque and impedance feedback loops. The work presented here addresses this issue by proposing a critically-damped fourth order system...
Maneuvering through 3D structures nimbly is pivotal to the advancement of legged locomotion. However, few methods have been developed that can generate 3D gaits in those terrains and fewer if none can be generalized to control dynamic maneuvers. In this study, foot placement planning for dynamic locomotion traversing irregular terrains is explored in three dimensional space. Given boundary values...
We propose a novel distance field transform method based on an iterative method adaptively performed on an evolving active band. Our method utilizes a narrow band to store active grid points being computed. Unlike the conventional fast marching method, we do not maintain a priority queue, and instead, perform iterative computing inside the band. This new algorithm alleviates the programming complexity...
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