Modeling and Control of Legged Robots

@inproceedings{Wieber2016ModelingAC,
  title={Modeling and Control of Legged Robots},
  author={Pierre-Brice Wieber and Russ Tedrake and Scott Kuindersma},
  booktitle={Springer Handbook of Robotics, 2nd Ed.},
  year={2016}
}
The promise of legged robots over standard wheeled robots is to provide improved mobility over rough terrain. This promise builds on the decoupling between the environment and the main body of the robot that the presence of articulated legs allows, with two consequences. First, the motion of the main body of the robot can be made largely independent from the roughness of the terrain, within the kinematic limits of the legs: legs provide an active suspension system. Indeed, one of the most… CONTINUE READING
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