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Learning robot gait stability using neural networks as sensory feedback function for central pattern generators
In this paper we present a framework to learn a model-free feedback controller for
locomotion and balance control of a compliant quadruped robot walking on rough terrain …
locomotion and balance control of a compliant quadruped robot walking on rough terrain …
Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion
We present a modular controller for quadruped locomotion over unperceived rough terrain.
Our approach is based on a computational Central Pattern Generator (CPG) model …
Our approach is based on a computational Central Pattern Generator (CPG) model …
Central pattern generator with inertial feedback for stable locomotion and climbing in unstructured terrain
G Sartoretti, S Shaw, K Lam, N Fan… - … on robotics and …, 2018 - ieeexplore.ieee.org
Inspired by the locomotor nervous system of vertebrates, central pattern generator (CPG)
models can be used to design gaits for articulated robots, such as crawling, swimming or …
models can be used to design gaits for articulated robots, such as crawling, swimming or …
Small-sized reconfigurable quadruped robot with multiple sensory feedback for studying adaptive and versatile behaviors
T Sun, X ** an embodied gait on a compliant quadrupedal robot
Incorporating the body dynamics of compliant robots into their controller architectures can
drastically reduce the complexity of locomotion control. An extreme version of this embodied …
drastically reduce the complexity of locomotion control. An extreme version of this embodied …
Development of a minimalistic pneumatic quadruped robot for fast locomotion
In this paper, we describe the development of the quadruped robot “Ken” with the
minimalistic and lightweight body design for achieving fast locomotion. We use McKibben …
minimalistic and lightweight body design for achieving fast locomotion. We use McKibben …
Dynamic turning of a soft quadruped robot by changing phase difference
Dynamic locomotion of a quadruped robot emerges from interaction between the robot body
and the terrain. When the robot has a soft body, dynamic locomotion can be realized using a …
and the terrain. When the robot has a soft body, dynamic locomotion can be realized using a …
Do-it-yourself design for social robots: An open-source hardware platform to encourage innovation
One of the chief obstacles in achieving wider acceptance of robotics is that only experienced
roboticists can develop robotics applications. If we want robots in our homes and offices, we …
roboticists can develop robotics applications. If we want robots in our homes and offices, we …