4 papers
When to Waddle: A Comparative Study of Bipedal Torso-Stabilization on Low-Friction Surfaces
Ben Gu, Naomi Oke, George Ortiz +4
Low-friction surfaces challenge bipedal locomotion by limiting the contact forces available during stepping. Inspired by penguin waddling, we investigate how lateral torso motion a…
Duty Factor Predicts Robust Constrained Quadrupedal Locomotion Across Gait Types
James Zhu, David Ologan, George Ortiz +5
Quadrupedal robots are increasingly deployed in environments where locomotion must remain robust to disturbances and constrained terrain. Gait type, such as walking or trotting, is…
Allometric Scaling Laws for Bipedal Robots
Naomi Oke, Aja M. Carter, Ben Gu +4
Legged robots operate across a wide range of physical scales, but how their designs should be adapted as size changes remains unclear. Here, we tackle this question in two ways. Fi…
Zippy: The smallest power-autonomous bipedal robot
Steven Man, Soma Narita, Josef Macera +3
Miniaturizing legged robot platforms is challenging due to hardware limitations that constrain the number, power density, and precision of actuators at that size. By leveraging des…