“Legged robot that balance”是波士顿动力创始人Marc Raibert在1986年写的一本书，是四足机器人经典书籍，讲诉弹簧倒立摆，动态控制，从单腿到双腿到四足机器人推广等算法，系统讲解了足式机器人工作的基本原理和思想，是四足机器人领域启蒙式读物。 Why？ 两个 ...

7.1 WHY STUDY LEGGED ROBOTS? One need only watch a few slow-motion instant replays on the sports channels to be amazed by the variety and complexity of ways a human can carry, swing, toss, glide, and ...

Balance and stability are the precursors of robot movement ... The critical value of the output torque of the robot leg motors is detected to determine whether the robot is in the flight phase or ...

When designing legged robots, we generally see an even number of legs. Mainly, we think, it is due to us modelling things after nature. But with robotics, you’re free to do whatever you want.

For many of us, the first robot we saw rolling on powered wheels at the end of actively articulated legs was when footage of the Boston Dynamics ‘Handle’ project surfaced a few years ago.

Abstract: This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its ...

Abstract: This paper proposes a novel reduced-order model of rigid body dynamics that can be used for versatile motion generation of legged robots. It can express both linear CoM movement and rotation ...

The model then worked out by itself how to control the remaining three legs and balance the robot while standing or walking. Arm and his team could then control the robot remotely to carry out ...

animal-inspired robots. Legged robots, particularly quadrupeds, have been found to be particularly promising for tackling simple tasks at ground level, such as exploring environments and carrying ...

The proliferation of robots like Boston Dynamics’ Spot has showcased the versatility of quadrupeds. These systems have thrived at walking up stairs, traversing small obstacles, and navigating ...