.... The details of the control approach are beyond the scope of this paper. 11 12 2008 09 09 2009 09 11 2009 09 11 2009 control system synthesis elasticity electric actuators legged locomotion motion control position control springs (mechanical) The concept of series...

... are identified and validated by experimental tests to improve the system tracking performance. ResQuake has participated with distinction in several rescue robot leagues. Final designed arrangement for the arms 21 07 2008 07 05 2009 20 07 2009 control system synthesis legged...

.... , 1985 , “ Realization of Dynamic Walking Robot WL-10RD ,” Proceedings of IEEE International Conference on Robotics and Automation , pp. 459 – 466 . 06 07 2008 04 01 2009 09 03 2009 legged locomotion mechanical stability robot kinematics four-link RCCR mechanism...

... by 14 ζ 2 * − = − V zero ( z 1 − ) 1 − δ zero 2 If the fixed point satisfies Eq. 13 , it will be stable as long as 15 δ zero 2 < 1 26 06 2007 16 06 2008 21 08 2008 design engineering gait analysis legged...

... reached during a typical human gait trajectory. 20 06 2007 29 05 2008 21 08 2008 design engineering legged locomotion manipulators optimisation cable-driven parallel mechanism design optimization locomotion interface Cable-driven parallel mechanisms have...

... condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points. 16 02 2006 21 08 2006 legged locomotion robot dynamics design agility dynamic performance acceleration...

... stable walking patterns, can be obtained. 28 05 2004 21 07 2005 legged locomotion robot dynamics stability The walking of bipeds is the result of one of the most complex motor coordination patterns among all robotic systems. Walking patterns ensure stability of biped during...

... C 3 ( F C 3 β , F C 3 γ , F C 3 δ ) ⩽ 0 meaning that each foot contact force must be inside their respective friction cone. 28 06 2004 24 06 2005 mechanical contact legged locomotion friction This paper addresses the determination...

... legged locomotion mechanical contact friction multi-contact force distribution contact force solution optimization margin against slip contact point priority force space graph solution volume representation multi-limbed robots This paper presents a strategy for choosing the optimal...

..., RS-2PS, SP-2PS, SR-2RS, SR-2PS, SP-2RS, SR-PS-RS, and SP-PS-RS. The financial support of the Italian MURST is gratefully acknowledged. 20 05 2004 17 01 2005 legged locomotion manipulator kinematics end effectors Kinematics Position Analysis Parallel...

...) , pp. 1384–1389, Washington, D.C. URL www.icra2002.org McKenna , M. , and Zelter , D. , 1990 , “ Dynamic Simulation of Autonomous Legged Locomotion ,” Comput. Graph. , 22 ( 4 ), pp. 29 – 38 . Seigler , S. , Seliktar , R. , and Hyman , W. , 1982 , “ Simulation of Human...

... Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received August 2001; revised September 2002. Associate Editor: G. S. Chirikjian. 01 August 2001 01 September 2002 11 06 2003 legged locomotion robot kinematics motion control actuators Miniature...