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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)
This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: 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 locomotion and a useful, yet not overly restrictive criterion for stability. In this part (Part 1), we(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)