Open access
Sep 2026
Seamless control between standing and repetitive hopping for legged robots based on dynamics morphing
This paper presents a novel control strategy that enables seamless transitions between stationary standing and repetitive hopping in legged robots through dynamics morphing. At the core of the approach lies a stable nonlinear oscillator that can be continuously transformed into and from a regulator for vertical center...
Hiroshi Atsuta, T. Sugihara
· Nonlinear dynamics · 0 citations