منابع مشابه
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots
Relying on reduced models is nowadays a standard cunning to tackle the computational complexity of multi-contact locomotion. To be really effective, reduced models must respect some feasibility constraints in regards to the full model. However, such kind of constraints are either partially considered or just neglected inside the existing reduced problem formulation. This work presents a systema...
متن کاملLegless locomotion for legged robots
We propose a locomotion technique for a legged robot that is high-centered, i.e., a robot stuck on a block with its legs dangling in air. By using its legs as reaction masses, the robot might be able to rock and roll on its stomach and incrementally move forward off the block, a form of legless locomotion using halteres. With locomotion of high-centered robots using body attitude oscillations a...
متن کاملMulti-contact Locomotion of Legged Robots
Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open problem. To tackle it, a common approach is to rely on reduced template models (e.g. the linear inverted pendulum). However, most of existing template models are based on some restrictive hypotheses that limit their range of applications. Moreover, reduced models are generally not able to cope with the const...
متن کاملLegless Locomotion: A Novel Locomotion Technique for Legged Robots
We present a novel locomotion strategy called legless locomotion that allows a round-bodied legged robot to locomote approximately when it is high-centered. Typically, a high-centered robot is stuck since the robot’s legs do not touch the ground. Legless locomotion uses the legs as a reaction mass to set up oscillatory body rotations which when coupled with ground contact gradually translate th...
متن کاملActive Exploration of Surfaces for Legged Locomotion of Robots
This paper presents some results of an ongoing research project in the GRASP Lab in the area of active exploration and perception for the legged locomotion of robots. We propose an active perceptual scheme that is based on the ability of the robot to extract material properties from a surface during locomotion. This ability is provided to the robotic system through a compliant sensing device wh...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2018
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2018.2862902