Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

© 2016 IEEE. Gaits in legged robots are often hand tuned and time based, either explicitly or through an internal clock, for instance, in the form of central pattern generators. This strategy requires trial and error to identify leg timings, which may not be suitable in challenging terrains. In this...

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Bibliographic Details
Main Authors: Boussema, Chiheb, Powell, Matthew J, Bledt, Gerardo, Ijspeert, Auke J, Wensing, Patrick M, Kim, Sangbae
Other Authors: Massachusetts Institute of Technology. Department of Mechanical Engineering
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
Online Access:https://hdl.handle.net/1721.1/134179

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https://hdl.handle.net/1721.1/134179

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