... = i m 2 R m } , where R m is the resistance of the motor windings. To improve accessibility of these high-performance actuators for legged locomotion, [ 56 ] recently proposed an open-source, 3D-printed design. Taking inspiration from the MIT Cheetah, [ 57 – 63...

... feedback legged locomotion biped robot controlled Lagrangian method geometric control controlled symmetry method Biped locomotion is one of the most complex forms of legged locomotion. From a dynamic system point of view, this complexity comes from two phenomena. First, during...

... ∕ s at the output shaft. Backlash in the gear train is minimal and ignored in simulation, but the high friction is included and utilized by the joint controllers to provide damping to the proportional controllers. 21 02 2007 14 06 2007 26 11 2007 legged locomotion robot...

... – 1227 . Blickhan , R. , and Full , R. , 1993 , “ Similarity in Multi-Legged Locomotion: Bouncing Like a Monopode ,” J. Comp. Physiol., A 0340-7594 , 173 , pp. 509 – 517 . Seyfarth , A. , Geyer , H. , Gunther , M. , and Blickhan , R. , 2002 , “ A Movement...