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In this paper, stable hopping of a one-legged, articulated robot with a flat foot is investigated. The robot has a special feature that before taking off, it goes through an underactuated phase in which the foot rotates about the unactuated toe on the ground. By having the underactuated phase, the robot can perform stable human-like hops with longer hopping distances. To devise a systematic trajectory...
In this paper, an iterative learning strategy is proposed for a biped which performs semi-active walking in the way that during the single support phase of walking, only the joints in the support leg are actuated and those in the swing leg are unactuated. This strategy is intended to provide further experimental tuning on the actuated joint trajectories computed by a model-based optimization procedure...
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