We expect legged robots to be highly mobile. Human walking and running can execute quick changes in speed and direction, even on non-flat ground. Indeed, analysis of simplified models shows that these quantities can be tightly controlled by adjusting the leg placement between steps, and that leg placement can also compensate for disturbances including changes in the ground height. However, to d...

Recently, the development of agile-legged robots that mimic structures and functions biological muscles tendons quadruped mammals has attracted significant attention. The driving force elastic can help improve performances these robots. Thus far, most have been developed based on muscle-tendon complex lower legs. However, some a larger upper legs, which contributes significantly to agile moveme...

This paper describes a vision-based servoing control scheme for legged robots to achieve a vision-guided swaying task utilizing a visual servoing technique. According to the controller, motions of the legs are not pre-programmed by analyzing the kinematics/dynamics of the system, but are generated by the servoing scheme reactively. The vision-based servoing scheme is a hybrid one consisting of ...

I majored in robotics and humanoid robots are the dream of every researcher in robotics. When I first saw the Honda Asimo, I really wanted to create my own humanoid robot. This is a very personal motivation to start humanoid robotic research. Secondly, humanoid robots are the ultimate form of service robots. While today most robots drive on wheels, eventually, two-legged locomotion is the best ...