Gary N. Boone

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| Many robot applications require legged robots to traverse rough or unmodeled terrain. This paper explores strategies that would enable legged robots to respond to two common types of surface contact error: slipping and tripping. Because of the rapid response required and the diiculty of sensing uneven terrain, we propose a set of re-exes that would permit(More)
| Many robot applications require legged robots to traverse rough or unmodeled terrain. This paper explores strategies that would enable legged robots to respond to two common types of surface contact error: slipping and tripping. Because of the rapid response required and the diiculty of sensing uneven terrain, we propose a set of re-exes that would permit(More)
Felines possess an innate capability for mid-air postural self-correction allowing them to achieve a consistent \feet-down" orientation prior to impact with a hard surface, irrespective of initial orientation. Previous work has speculated on the physiological mechanisms involved in such maneuvers, but, to the knowledge of the authors, no research has been(More)
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