In the previous work we presented a new gait for humanoid robots, such as the Nao developed by Aldebaran. This new gait implemented on a Nao, reduces the energy consumption by 41%. Then main feature of the new gait is the absence of an area of support. The foot can rotate freely around the ankle joint. This feature makes the gait suited for uneven terrains. Stability is an important aspect of w...

The approach investigated in this work employs LADAR measurements to detect and track pedestrians over time. The algorithm can process range measurements from both line and 3D scanners. The use of line scanners allows detection and tracking at rates up to 75 Hz. However, this type of sensor may not always perform satisfactorily in uneven terrains. A 3D LADAR is used to improve operation in unev...

Mobile manipulators operating in eld environments will be required to perform tasks on uneven terrain which may cause the system to approach, or achieve, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to de ne a measure of stability margin. This work presents a new tipover stabi...

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

This paper encompasses a study on the development of a walking gait for fault tolerant locomotion in unstructured environments. The fault tolerant gait for adaptive locomotion fulfills stability conditions in opposition to a fault (locked joints or sensor failure) event preventing a robot to realize stable locomotion over uneven terrains. To accomplish this feat, a ...

Here, we used an obstacle treadmill experiment to investigate the neuromuscular control of locomotion in uneven terrain. We measured in vivo function of two distal muscles of the guinea fowl, lateral gastrocnemius (LG) and digital flexor-IV (DF), during level running, and two uneven terrains, with 5 and 7 cm obstacles. Uneven terrain required one step onto an obstacle every four to five strides...