The mathematics of humanoid robot walking revolves around balancing dynamics using the center of mass (CoM), kinematic ...

A triple inverted pendulum on a cart has 8 equilibrium configurations (each link Up or Down: 2³). Moving between any two of them — 8 × 7 = 56 transitions — is the most general control benchmark for ...

This documentation is written to provide guidelines who’re trying to create their own pendulum model and also serve as my personal notes to organize theories I learned. Rotary Pendulum, also known as ...

This is an important study that advances our understanding of the transition from quadrupedal to bipedal gait in a neuromechanical model of the Japanese macaque. The method and results are solid; the ...

Abstract: The robotics research community has developed several effective techniques for quadrupedal locomotion. Most of these methods ease the modeling and control problem by assuming a rigid contact ...

We present an online optimization algorithm which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The proposed optimization algorithm performs high ...

Physicists in France have made small objects float upside-down on the underside of a layer of viscous liquid levitating in air. Although their apparently gravity-defying demonstration breaks no laws ...

Abstract: As a versatile template characterizing the center of mass movements in legged locomotion, the sagittal spring-loaded inverted pendulum (SLIP) model has been extensively explored in both ...