Legged robots that balance
Motion control of a legged machine in the supportless phase of hopping
International Journal of Robotics Research
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Vertical and horizontal motion control of a one-legged hopping machine
International Journal of Robotics Research
Slipping and Tripping Reflexes for Bipedal Robots
Autonomous Robots
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Animations of legged creatures running over rough terrain were generated automatically, using physical modelling and animation with newly developed techniques from robotics and artificial intelligence. The 2D animations correctly simulate gravity, inertia, balance, and friction. The running motion generated is not repetitive; each stride is different, as dictated by the terrain. Dramatic movement effects such as slips, falls, struggling on slippery surfaces, and fall recoveries were demonstrated.