Darren P. Krasny

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In nature, quadrupedal mammals can run at high speeds over uneven terrain, turn sharply, jump obstacles, and stop suddenly. While these abilities are common features in biological locomotion, they represent remarkable feats from both an engineering and control perspective. Although some robots over the past several decades have been capable of dynamic(More)
Dynamic maneuvers are an important part of legged locomotion used to adapt to varying terrain conditions. Quadrupedal dynamic maneuvers have received little attention in the literature due to limitations of traditional analytical approaches. In this study we look at several dynamic maneuvers in a 3D galloping quadruped robot using a multi-objective(More)
Over the past several decades, there has been a considerable interest in investigating high-speed dynamic gaits for legged robots. While much research has been published, both in the biomechanics and engineering fields regarding the analysis of these gaits, no single study has adequately characterized the dynamics of high-speed running as can be achieved in(More)
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