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 ...

Abstract: Impact forces are a destructive, yet common occurrence in legged locomotion. Every step produces a collision when the leg’s inertia stops as a result of ground contact. This results in peak forces and high-frequency ...