We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods are used to identify possible gaits and to analyze the stability and efficiency of quadrupedal passive dynamic walking. In doing so, special attention is paid to issues that are inherent to quadrupedal locomotion, such ...

Last year, the IEEE Robotics and Automation Society (RAS) CAB Competition Committee proposed Quadruped Robot Challenge (QRC) as an exemplary robot challenge organized by RAS at RAS’s major conferences. As a part of project, first version QRC was held in ICRA 2023 London. In this column, we would like to introduce challenges results.

Modeling clothing to characters is one of the most time-consuming tasks for artists in 3DCG animation production. Transferring existing clothing models is a simple and powerful solution to reduce labor. In this paper, we propose a method to generate a clothing model for various characters from a single template model. Our framework consists of three steps: scale measurement, clothing transforma...

This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters shou...