Four-Legged Recycling Machines

Stability of Four Legged Tables

We prove that a perfect square table with four legs, placed on continuous irregular ground with a local slope of at most 15 degrees can be put into equilibrium on the ground by a " rotation " of less than 90 degrees. We also discuss the case of non-square tables and make the conjecture that equilibrium can be found if the four feet lie on a circle.

Controller for a four legged walking machine

In this paper we describe a controller for 4-legged robot locomotion implemented on a 4-legged walking machine. This controller uses a ring of coupled nonlinear oscillators. It is very e cient, needing no software and only a small number of components to guarantee coordination between the leg movements leading to walking. We explain how inter-leg coordination is achieved and we show data which ...

Player Positioning in the Four-Legged League

As RoboCup continues its march towards the day when robots play soccer against people, the focus of researchers’ efforts is slowly shifting from low-level systems (vision, motion, self-localization, etc) to high-level systems such as strategy and cooperation. In the Four-Legged League (recently renamed to the Standard Platform League), teams are still struggling with this transition. While the ...

Eagle Knights 2007: Four-Legged League

In this paper we present the system architecture for our Four Legged RoboCup Soccer Team – Eagle Knights. We describe the system architecture: Vision, Localization, Sensors, Kinematics, Wireless Communication and Behaviors.

A biologically inspired four legged walking robot