Jonathan Spitz

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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)
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)
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)
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