This paper deals with the locomotion control of quadruped robots inspired by the biological
concept of central pattern generator (CPG). A control architecture is proposed with a 3-D …

Compared with wheeled mobile robots, legged robots can easily step over obstacles and
walk through rugged ground. They have more flexible bodies and therefore, can deal with …

In this paper, we propose a successive gait-transition method for a quadruped robot to
realize omnidirectional static walking. The gait transition is successively performed among …

Robot calibration for an environment is a tedious task that usually involves extensive, if not
total, human intervention. However, robots have sensing mechanisms, in particular …

Today's and future space missions (will) have to deal with increasing requirements
regarding autonomy and flexibility in the locomotor system. To cope with these …

Robotics software encompasses several difficult realms of computer science, requiring
vision, manipulation, and intelligent planning, all in real time. Unfortunately, all must be in …

Tekkotsu has grown from a specialized framework for development on the Sony Aibo to a
general purpose robotics development environment with support for a variety of hardware …

In this paper, a method is proposed for controlling a hop** monopod. It takes dynamics of
the robot into account to have better nominal tracking of desired trajectories and more …

Locomotion control of a quadruped robot requires a well-defined gait pattern (ie, a
coordinated actuation of its four legs in some particular fashion with respect to time). It is of …

With the research into development of quadruped robots picking up pace, learning based
techniques are being explored for develo** locomotion controllers for such robots. A key …