On the Use of Hybrid Control for Legged Locomotion

S. V. Shastri

In this paper, we develop a hybrid control approach for legged locomotion. We motivate the development of the control architecture using the results of a series of walking, running and obstacle climbing experiments conducted using a six legged robot called HEX. Our initial simulation results indicate the potential stability of the control approach, and our future analytical work should provide the formal proof of these results.


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