A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems
Discovery of fundamental principles which govern and limit effective locomotion (self-
propulsion) is of intellectual interest and practical importance. Human technology has …
propulsion) is of intellectual interest and practical importance. Human technology has …
Dynamic walking: Toward agile and efficient bipedal robots
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …
reality. This is due to continued progress in three key areas: a mathematical understanding …
A bipedal walking robot that can fly, slackline, and skateboard
Numerous mobile robots in various forms specialize in either ground or aerial locomotion,
whereas very few robots can perform complex locomotion tasks beyond simple walking and …
whereas very few robots can perform complex locomotion tasks beyond simple walking and …
[图书][B] Nonsmooth mechanics
B Brogliato, B Brogliato - 1999 - Springer
Thank you for opening the third edition of this monograph. The first edition [202] was
published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220) …
published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220) …
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and
underactuated bipedal walking, but has significant implementation difficulties when applied …
underactuated bipedal walking, but has significant implementation difficulties when applied …
Frost*: Fast robot optimization and simulation toolkit
This paper presents FROST, an open-source MATLAB toolkit for modeling, trajectory
optimization and simulation of hybrid dynamical systems with a particular focus in dynamic …
optimization and simulation of hybrid dynamical systems with a particular focus in dynamic …
3-d underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization
In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but
has significant implementation difficulties when applied to the high degrees of freedom …
has significant implementation difficulties when applied to the high degrees of freedom …
Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking
" I will never forget the emotion of my first steps […]," were the words of Fran? oise, the first
user during initial trials of the exoskeleton ATALANTE [1]." I am tall again!" were the words of …
user during initial trials of the exoskeleton ATALANTE [1]." I am tall again!" were the words of …
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
This paper presents the methodology used to achieve efficient and dynamic walking
behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a …
behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a …