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Showing 1 to 3 of 3 for “"gait planning"”.
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Investigation of Standing Up Strategies and Considerations for Gait Planning for a Novel Three-Legged Mobile Robot
… torques at the joints and considerations for gait planning. STriDER uses a unique tripedal gait to walk with high energy efficiency and has the ability to change directions. In the first version of STriDER, the concept of passive dynamic locomotion was emphasized; however, for the new version, …
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Safe Navigation of Multi-Agent Quadrupedal Robots: A Hierarchical Control Framework Based on Distributed Predictive Control and Control Barrier Functions
… control algorithms focused on the navigation, planning, and control of multi-agent quadrupedal robots collaborating in uncertain environments. Quadrupedal robots are high-dimensional, complex systems that are inherently unstable, posing significant challenges in designing predictive control …
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Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot
… to an elbow or knee joint. Designing walking gaits for such multi-limb robots requires a thorough understanding of the kinematics of the limbs, including their workspace. The specic abilities of a walking algorithm dictate the usable workspace for the limbs. Generally speaking, the more …