... and must be treated numerically. However, the use of a multiresolution surface representation of the feasible regions in state space reduces the computational burden of the approach. 27 03 2008 25 07 2008 08 12 2008 continuous systems discrete systems legged locomotion safety...

... hopping motion. A heuristics-based search strategy and a genetic algorithm-based search strategy are implemented for finding the initial conditions that result in extended hopping motion. 19 01 2004 29 01 2007 legged locomotion search problems genetic algorithms robot dynamics...

... pattern ( 5 ). The key is in the proper design of the mechanical system, relying on limb arrangement and passive viscoelastic properties, mechanisms known as “preflexes,” to reject disturbances ( 8 9 10 ). robot dynamics mechanical stability Poincare mapping Jacobian matrices legged...

... efficiency for stability. 01 04 2005 01 12 2005 legged locomotion robot dynamics stability biomimetics Animals are the current gold standard of locomotion ability. Their ability to navigate rough terrain is unmatched by their man-made counterparts. For years studies by biologists...

... the design synthesis of planar variants of the two candidate designs surmounting a representative obstacle profile while supporting a set of end-effector loads and highlight the key benefits in the presented results. 10 03 2005 22 11 2005 13 11 2004 19 11 2004 legged locomotion...

... . This analysis provides a description of the mobility and agility of legged robots. The method is illustrated using a hexapod as an example. legged locomotion robot dynamics mechanical contact leg locomotion agility mobility dynamic performance acceleration contact force friction...

... of the system. The trade-offs between having sensors to measure human variables and the lack of robustness to parameter variation are described. legged locomotion closed loop systems design robot dynamics The primary objective of the Berkeley Lower Extremity Exoskeleton (BLEEX) Project...

... is four times less costly as compared with applying a hip torque. legged locomotion robot kinematics design engineering gait analysis position control mechanical energy storage 2005 American Society of Mechanical Engineers ...

... received by the ASME Dynamic Systems and Control Division, April 2001; final revision, January 2002. Associate Editor: Y. Humuzlu. 01 April 2001 01 January 2002 16 12 2002 legged locomotion robot dynamics path planning motion control function approximation optimisation...

... legged locomotion path planning tracking closed loop systems stability real-time systems Quadruped Robot Path Tracking Robot Localization Gait Algorithm Path Planning Since a quadruped robot has a time-varying kinematic topology, which is usually redundantly actuated, its walking...

... asymptotic stability pneumatic control equipment position control force control control system synthesis robust control closed loop systems Popov criterion dynamics legged locomotion Control of pneumatic structures are usually based on position, velocity, and pressure feedbacks. However...