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This two-part paper discusses the analysis and control of legged locomotion in terms of N-step captura-bility: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomo-tion and a useful, yet not overly restrictive criterion for stability. Part 1 introduces a(More)
This two-part paper discusses the analysis and control of legged locomotion in terms of N-step captura-bility: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomo-tion and a useful, yet not overly restrictive criterion for stability. Part 1 introduced the N-step(More)
— This paper works with the concept of Divergent Component of Motion (DCM), also called '(instantaneous) Capture Point'. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double(More)
The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field-realistic communications link. We describe the design considerations, architecture,(More)
  • Pat Marion, Robin Deits, Andrés Valenzuela, Claudia Pérez D 'arpino, Greg Izatt, Lucas Manuelli +7 others
  • 2016
Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enough context to quickly carry out a mission and the(More)
  • Citation Fallon, Maurice, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider +18 others
  • 2014
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite(More)