From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. Ma, W. and Ames, A. D In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 4491-4497, 2020.
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation [pdf]Paper  From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation [link]Video  bibtex   4 downloads  
@inproceedings{ma2019bipedal,
  author={Ma, Wen-Loong and Ames, Aaron D},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation}, 
  year={2020},
  pages={4491-4497},
  url = {http://ames.caltech.edu/ma2019bipedal.pdf},
  url_video = {http://ames.caltech.edu/ma2019bipedal.mp4}
 }
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