ANYmal - toward legged robots for harsh environments
نویسندگان
چکیده
منابع مشابه
Adaptive visual servoing for legged robots-vision-cued swaying of legged robots in unknown environments
This paper describes a method to achieve a visioncued swaying task in unknown environments utilizing adaptive visual servoing. The proposed method has a hybrid structure consisting of a controller to keep the distances between feet constant (a stance servoing controller), and an adaptive visual servoing controller. Making use of the method, the motion of each joint need not be pre-programmed, b...
متن کاملLegged Robot 16 . Legged Robots
In this chapter, we introduce legged robots. After introducing the history of legged robot research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive walker as a typical cycling walking robot in Sect. 16.2; the Poincaré map is one of the most important tools to analyze its dynamics and stability. In Sect. 16.3, the dynamics and control of general biped robots are di...
متن کاملToward Mission Capable Legged Robots through Biological Inspiration
Insects provide good models for the design and control of mission capable legged robots. We are using intelligent biological inspiration to extract the features important for locomotion from insect neuromechanical designs and implement them into legged robots. Each new model in our series of robots represents an advance in agility, strength, or energy efficiency, which are all important for per...
متن کاملNavigation Planning for Legged Robots
As legged robots gain the abilities to walk, run, and balance on more than just flat, obstacle-free floors, they grow closer to fulfilling the potential of legged locomotion shown by biological systems. To truly fulfill this potential these robots must successfully traverse complicated, rough terrain, requiring the robots to step onto or over various features of the environment. Furthermore, wh...
متن کاملMotion Planning for Legged Robots
Slide 0 In this talk, we present a general trajectory generation scheme for a class of " kinematic " legged robots. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear trajectory generation algorithm for smooth systems to the legged case, where the relevant mechanics are not smooth. Our exten...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Advanced Robotics
سال: 2017
ISSN: 0169-1864,1568-5535
DOI: 10.1080/01691864.2017.1378591