Abstract: This paper presents a hierarchical nonlinear control algorithm for the real-time planning and control of cooperative locomotion of legged robots that collaboratively carry objects. An innovative network of reduced-order ...

Abstract: The primary goal of this paper is to develop a formal foundation to design nonlinear feedback control algorithms that intrinsically couple legged robots with bio-inspired tails for robust locomotion in the presence of ...

Abstract: This paper develops feedback controllers for walking in 3D, on level ground, with energy efficiency as the performance objective. Assume The Robot Is A Sphere (ATRIAS) 2.1 is a new robot that has been designed for the study ...