From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation.

Wen-Loong Ma Aaron D. Ames

Published in: CoRR (2019)

Keyphrases

legged robots
mobile robot
quadruped robot
gait patterns
inverted pendulum
human body
dynamical systems
dynamic model
robotic systems
legged locomotion
decomposition method
generation process
joint angles
inverse kinematics
decomposition methods
neural network
gait recognition
body parts
three dimensional