... and Combinatorial Group Theory , Springer-Verlag , New York . Nemytskii , V. V. , and Stepanov , V. V. , 1989 , Qualitative Theory of Differential Equations , Dover , New York . 27 03 2008 25 07 2008 08 12 2008 continuous systems discrete systems legged locomotion...

... hopping motion. A heuristics-based search strategy and a genetic algorithm-based search strategy are implemented for finding the initial conditions that result in extended hopping motion. 19 01 2004 29 01 2007 legged locomotion search problems genetic algorithms robot dynamics...

... insights that can inform the design and control of dynamic legged robots capable of rapid and robust locomotion. robot dynamics mechanical stability Poincare mapping Jacobian matrices legged locomotion robust control Animals display remarkable agility and versatility when traversing...

... of the Sprawl robots which allows for efficient and repeatable tests. It also permits efficient investigation of structural as well as control parameters—an essential requirement for these passively stabilized open-loop runners. Stability for dynamic legged locomotion over rough terrain is not easily...

... the design synthesis of planar variants of the two candidate designs surmounting a representative obstacle profile while supporting a set of end-effector loads and highlight the key benefits in the presented results. 10 03 2005 22 11 2005 13 11 2004 19 11 2004 legged locomotion...

... of the reformulation are the: analysis of friction limiting the constraint forces, switching between overactuation and underactuation due to kinematic constraints. The unification of acceleration and force analysis in the DCE is key in addressing the first issue. In the legged locomotion arena, these two...

.../ . Riener , R. , Rabuffetti , M. , and Frigo , C. , 2002 , “ Stair Ascent and Descent at Different Inclinations ,” Gait and Posture 0966-6362 , 15 , pp. 32 – 34 . 31 03 2005 17 09 2005 legged locomotion closed loop systems design robot dynamics The primary...

... as a base. Kuo ( 2 ) continued McGeer’s work ( 1 ) using the simplest two-link model and found that the optimal strategy for powering the simple walker is to apply toe-off actuation alone, which is four times less costly as compared with applying a hip torque. legged locomotion robot kinematics...

... Based on Optimum Trajectory Planning) ,” JSME International Journal , 65 ( 637 ), pp. 3583 – 3591 . Yang , J. , 1994 , “ A Control Study of a Kneeless Biped Locomotion System ,” J. Franklin Inst. , 331B ( 2 ), pp. 125 – 143 . legged locomotion robot dynamics path planning...

... SYSTEMS, MEASUREMENT, AND CONTROL . Manuscript received by the Dynamic Systems and Control Division June 5, 2000. Associate Editor: S. Sivashankar. 05 June 2000 10 05 2002 legged locomotion path planning tracking closed loop systems stability real-time systems Quadruped...

... control closed loop systems Popov criterion dynamics legged locomotion Control of pneumatic structures are usually based on position, velocity, and pressure feedbacks. However, gains adjustments appear to be difficult when relatively high speed is required (Pu and Weston 1 ). Instabilities...