Avik De

TL;DR: A 4DOF tailed monoped that hops along a boom permitting free sagittal plane motion and a partial proof of correctness for this parallel composition of “template” reference systems suggesting these templates are “anchored” as evidenced by the correspondence of their characteristic motions with a suitably transformed image of traces from the physical platform.

TL;DR: This paper applies an extension of classical averaging methods to hybrid dynamical systems, thereby achieving formally specified, physically effective and robust instances of all virtual bipedal gaits on a quadrupedal robot.

TL;DR: This work reports on the development of one important example of such a behavioral programming method, the construction of a novel monopedal sagittal plane hopping gait through parallel composition of four decoupled 1DOF base controllers.

TL;DR: It is shown that a force impulse to the hand at the moment of ball-paddle collision categorically improves performance over visual feedback alone, not by regulating the rate of convergence to steady state, but rather by reducing cycle-to-cycle variability.