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

Wen-Loong Ma Aaron D. Ames

Published in: ICRA (2020)

Keyphrases

legged robots
quadruped robot
mobile robot
inverted pendulum
gait patterns
generation process
legged locomotion
dynamical systems
human body
degrees of freedom
joint angles
neural network
feature extraction
control system
image decomposition