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...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/134179 |