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The Merits of Passive Compliant Joints in Legged Locomotion: Fast Learning,Superior Energy Efficiency and Versatile Sensing in a Quadruped Robot |
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| Authors: | Matej Hoffmann Jakub Simanek |
| Institution: | 1. iCub Facility, Istituto Italiano di Tecnologia, Genova 16123, Italy;Artificial Intelligence Laboratory, Department of Informatics University of Zurich, Zurich 8050, Switzerland;2. Department of Measurement, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague 166 27, Czech Republic |
| Abstract: | |
| Keywords: | legged robots underactuated robots compliant joints learning locomotion force and tactile sensing haptic terrain classification |
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