The Usage of Kinematic Singularities to Produce Periodic High-Powered Locomotion
Chang Liu,Mark Plecnik,Chang Liu,Mark Plecnik
Legged robots primarily energize their center of mass through external contact during stance phase. This links their range of possible motions to actuator power limits applied during usually short periods of time. Enabling limb actuators to pump energy into the system during non-contact phases can greatly extend the energetic profile of possible motions. However, funneling this extra energy into u...
