Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts
Stefan Fasano,James Foster,Sylvain Bertrand,Christian DeBuys,Robert Griffin,Stefan Fasano,James Foster,Sylvain Bertrand,Christian DeBuys,Robert Griffin
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work, we propose a locomotion controller for efficient walking over near-flat ground using a relatively simple, model-based controller that utilizes a novel combinat...
