TY - GEN
T1 - Jumping commands for flexible-legged robots
AU - Vaughan, Joshua
PY - 2013
Y1 - 2013
N2 - Under certain conditions, hopping, skipping, or jumping might be a more efficient means of terrestrial locomotion than either walking or rolling. In addition, for many robotic applications, a robust jumping algorithm could be easier to implement than walking. Jumping also provides a means to cross obstacles that might otherwise stop a wheeled or walking robot. This paper will examine a special case of jumping and generation of jumping commands. A simplified flexible robotic leg is modeled and jumping commands are generated utilizing a command shaping algorithm.
AB - Under certain conditions, hopping, skipping, or jumping might be a more efficient means of terrestrial locomotion than either walking or rolling. In addition, for many robotic applications, a robust jumping algorithm could be easier to implement than walking. Jumping also provides a means to cross obstacles that might otherwise stop a wheeled or walking robot. This paper will examine a special case of jumping and generation of jumping commands. A simplified flexible robotic leg is modeled and jumping commands are generated utilizing a command shaping algorithm.
KW - Command Generation
KW - Jumping
UR - http://www.scopus.com/inward/record.url?scp=84893258162&partnerID=8YFLogxK
U2 - 10.1109/ISR.2013.6695635
DO - 10.1109/ISR.2013.6695635
M3 - Conference contribution
AN - SCOPUS:84893258162
SN - 9781479911738
T3 - 2013 44th International Symposium on Robotics, ISR 2013
BT - 2013 44th International Symposium on Robotics, ISR 2013
T2 - 2013 44th IEEE International Symposium on Robotics, ISR 2013
Y2 - 24 October 2013 through 26 October 2013
ER -
