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Optimizing Robust Limit Cycles for Legged Locomotion on Unknown Terrain Hongkai Dai and Russ Tedrake Abstract— While legged animals are adept at traversing rough landscapes, it remains a very challenging task for a leg
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Document Date: 2012-09-05 10:03:29

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City

Boca Raton / Paris / Cambridge / /

Company

CRC Press / SIAM Journal / Robot Locomotion Group / /

Country

United States / /

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Facility

Massachusetts Institute of Technology / /

IndustryTerm

rigid body dynamical systems / periodic solution / deadbeat openloop control solution / mechanical systems / approximate solution / Control systems / real periodic solution / time law / /

Organization

International Federation of Automatic Control / National Science Foundation / Massachusetts Institute of Technology / Computer Science and Artificial Intelligence Lab / World Congress / /

Person

Katie Byl / Michael Posa / Marc Raibert / Hartmut Geyer / Michael Ernst / Christine Chevallereau / John T. Betts / Andy Ruina / Walter Murray / Reinhard Blickhan / Gabriel Nelson / Ian R Manchester / Rob Playter / Benjamin Morris / A. Saunders / Manoj Srinivasan / Uwe Mettin / Kevin Blankespoor / Andre Seyfarth / Alireza Ramezani / Philip E. Gill / Fumiya Iida / Katja D. Mombaur / Ian R. Manchester / Jun Ho Choi / Eric R. Westervelt / Russ Tedrake / /

Position

spring-mass model for running and hopping / time varying controller / simple LQR controller / guard / bipedal walker / walker / compass gait walker / tracking controller / hybrid guard / simple passive walker / deadbeat controller / infinite-horizon LQR controller / simple linear controller / deadbeat feedforward controller / stabilizing controller / linear controller / disturbance rejection controller / ground collision guard for nominal terrain h0 / bipedal compass gait walker / feedback controller / controller / /

ProgrammingLanguage

R / /

ProvinceOrState

South Carolina / Florida / Massachusetts / /

PublishedMedium

The International Journal / Journal of Theoretical Biology / /

Technology

SQP algorithm / simulation / /

SocialTag