Pavel Osinenko

Jul 15, 2023 | arxiv.org | Anna Shkromada |Henni Ouerdane |Pavel Osinenko

Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the efficient control of the interaction between the legged robot's body and the environment where it moves.