Modular Hopping and Running via Parallel Composition
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Summary
A new family of one-, two-, and four-legged robots with high power density, transparency, and control bandwidth are designed with ideas of verifiable behavioral modularity and a firm understanding of the hardware tools required to implement them, closer to identifying the components required to flexibly program the exchange of work between machines and their environment.
- Type
- article
- Published
- 2017-01-01
- Cited by
- 15
- References
- 156
- Access
- Open access
- OpenAlex
- https://openalex.org/W2767425040
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:67039679
Keywords
Modular design, Composition (language), Computer science, Component (thermodynamics), Programming language
References
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- Adaptive Techniques for Mechanical Systems
- A framework for the coordination of legged robot gaits
- Dynamically Stable Legged Locomotion (September 1985-September 1989)
- Control of forward velocity for a simplified planar hopping robot
- Parallel composition of templates for tail-energized planar hopping
- A hybrid systems model for simple manipulation and self-manipulation systems
- Reconfiguration planning for pivoting cube modular robots
- Characterization of monoped equilibrium gaits
- A Mathematical Introduction to Robotic Manipulation
- Toward the Regulation and Composition of Cyclic Behaviors
- What Price Speed
- SCOUT: a simple quadruped that walks, climbs, and runs
- Directional efficiency in geared transmissions: Characterization of backdrivability towards improved proprioceptive control
- The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates
Cited by
- A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability
- Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
- On the Dynamic Similarity Between Bipeds and Quadrupeds: A Case Study on Bounding
- Analytically-Guided Design of a Tailed Bipedal Hopping Robot
- Task-Based Control and Design of a BLDC Actuator for Robotics
- Extended Version of Simple Sagittal Running: Stability of a Quadrupedal Bound
- Learning to Walk in the Real World with Minimal Human Effort
- From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation
- Technical Report: A New Hopping Controller for Highly Dynamical Bipeds
- Learning Locomotion For Legged Robots Based on Reinforcement Learning: A Survey
- How to train your robot with deep reinforcement learning: lessons we have learned
- Mode-Reactive Template-Based Control in Planar Legged Robots
- An efficient, modular controller for flapping flight composing model-based and model-free components
- Posture Control of Legged Locomotion Based on Virtual Pivot Point Concept
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