193 citations · 279 across the 14 of their papers we have counts for
4 papers · 1 filter
A Control Method to Compensate Ground Level Changes for Running Bipedal Robots
Özge Drama, Alexander Badri-Spröwitz
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes eve…
Effective Viscous Damping Enables Morphological Computation in Legged Locomotion
An Mo, Fabio Izzi, Daniel F. B. Haeufle +1
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robo…
FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain
Felix Ruppert, Alexander Badri-Spröwitz
In this paper we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to standard biomechanical de…
Postural Stability in Human Running with Step-down Perturbations: An Experimental and Numerical Study
Özge Drama, Johanna Vielemeyer, Alexander Badri-Spröwitz +1
Postural stability is one of the most crucial elements in bipedal locomotion. Bipeds are dynamically unstable and need to maintain their trunk upright against the rotations induced…