Browsing by Author "Caldwell, D. G."

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Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid

Kormushev, P.; Uğurlu, Regaip Barkan; Caldwell, D. G.; Tsagarakis, N. G. (Springer Nature, 2019-01)

Modern humanoid robots include not only active compliance but also passive compliance. Apart from improved safety and dependability, availability of passive elements, such as springs, opens up new possibilities for improving ...
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ

Uğurlu, Regaip Barkan; Havoutis, I.; Semini, C.; Kayamori, K.; Caldwell, D. G.; Narikiyo, T. (Springer Science+Business Media, 2015-04)

In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking ...

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