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In this paper, we proposed a simple algorithm for controlling humanoid walking. We take the body as control target and the legs as control tool. The passive dynamic of robot is used as much as possible, and the legs will execute necessary actions for adjusting body states through sensors' feedback. The hip actuators are used to avoid body from falling down including position and orientation which...
The high speed running of legged robot raise higher requirements on the design and development of the robot and the control method. The mammals' excellent performance, especially the cheetah, provides us much inspiration on control, mechanical design and etc. In this paper, a model of the cheetah robot is developed for researching the locomotory behaviors of fast running. Under the biological knowledge...
In this paper, we introduce a quadruped robot designed for bounding gait with only one actuator per compliant leg. Under the analysis of the dynamics model of the robot, a new simple linear running controller using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle, is proposed. It successfully executes fast running from...
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