Jonathan Spitz

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Biped robots are usually controlled using a quasi-static approach. In contrast, dynamic walking robots display more natural gaits which make them faster and more energy efficient. Applying these concepts, a biomimetic open-loop controller based on a Central Pattern Generator (CPG) is designed and applied to a Compass-Gait walker. We use numerical(More)
In recent years there has been a growing interest in the field of dynamic walking and bio-inspired robots. However, while walking and running on a flat surface have been studied extensively, walking dynamically over terrains with varying slope remains a challenge. Previously we developed an open loop controller based on a central pattern generator (CPG).(More)
Recent advances in control of humanoid robots have resulted in bipedal gaits that are dynamically stable on moderately rough terrain but are still limited to a small range of slopes. Humanoid robots, like humans, can take advantage of quadruped gaits to greatly extend this range. Cleverly designed gaits can provide robustness to rough terrain without(More)
Many of today’s successful biped robots are controlled based on the Zero Moment Point (ZMP) method, which generates robust locomotion for flat-footed bipeds on a controlled environment. These controllers usually generate slow gaits with a low energy efficiency which do not look natural or human-like. In contrast, Passive Dynamic Walkers [2], [5] are fast,(More)
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