Locomotion. Perception Driven Robot Locomotion.

Locomotion Transition Scheme of Multi-Locomotion Robot

Principles of robot locomotion

Learning Robot Locomotion

With the growth of computational power in recent years, complex autonomous robot systems have become a possibility. To increase their flexibility and adaptability, learning mechanisms are necessary for robot control. In this paper, I present two recent legged robot-systems that use machine-learning in their foothold-selection process. It was found that currently both systems have a number of is...

Metastable Legged-Robot Locomotion

A variety of impressive approaches to legged locomotion exist; however, the science of legged robotics is still far from demonstrating a solution which performs with a level of flexibility, reliability and careful foot placement that would enable practical locomotion on the variety of rough and intermittent terrain humans negotiate with ease on a regular basis. In this thesis, we strive toward ...

Footprint-Driven Locomotion Composition

One of the most efficient ways of generating goal-directed walking motions is synthesising the final motion based on footprints. Nevertheless, current implementations have not examined the generation of continuous motion based on footprints, where different behaviours can be generated automatically. Therefore, in this paper a flexible approach for footprint-driven locomotion composition is pres...