Swing leg retraction using virtual apex method for the ParkourBot climbing robot

@article{Nir2017SwingLR,
  title={Swing leg retraction using virtual apex method for the ParkourBot climbing robot},
  author={Omer Nir and Adar Gaathon and Amir Degani},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={3352-3358}
}
  • O. NirAdar GaathonA. Degani
  • Published 1 September 2017
  • Computer Science
  • 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
This paper describes a simple control scheme for the two-legged dynamic climbing robot, the ParkourBot. Inspired by the swing leg retraction (SLR) method used on running robots, we propose to implement an SLR controller that does not require an actual apex crossing event as an initiator. The familiar SLR control for running is initiated when the center of mass (CoM) of the robot reaches the apex of its trajectory. Often, dynamic climbing gaits do not reach an apex. We therefore define an… 

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