Angle of Attack Control for Running Robots

For running robots, angle of attack control is an important part of the controller, as the angle of attack has a large influence on the state of the running robot. Over the last 25 years, many angle of attack controllers have been introduced. However, it is unknown what the relative performance is of these controllers. The goal of this study is...

Design and fabrication of the Differential Actuated Foot (DAFoot)

The human ankle-foot complex is an intricate piece of machinery. It enables a stable stance, ambulation, and an effective transfer of force through the lower limb. Although state-of-the-art humanoid robots feature highly advanced kinematics, the robotic foot has seen little research resulting in humanoids equipped with simple feet. Simple feet...