Abstract:As the robots are used in some of the extreme environments such as battle fields, disaster sites or extra planetary exploration, it is necessary to provide robust locomotive strategies that are optimal to each terrain. The hopping gait has been well studied in robotics and proven to be a potential method for locomotion in some of these areas. There have been some difficulties in developing terrain following controllers that maintain robust, steady state hopping gait which is disturbance resistant. This paper d… Show more
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