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Why is probabilistic roadmap (PRM) planning probabilistic? How does the probability measure used for sampling a robot’s configuration space affect the performance of a PRM planner? These questions have received little attention to date. This paper tries to fill this gap and identify promising...
Simultaneous Localization and Map Building (SLAM) and Map Aided Localization (MAL) are very effective techniques employed extensively in robot navigation tasks. However, biases and drifts in both exteroceptive and proprioceptive sensors adversely impair correct localization (in MAL) and also...
This paper examines the passive dynamics of quadrupedal bounding. First, an unexpected difference between local and global behavior of the forward speed versus touchdown angle in the self-stabilized Spring Loaded Inverted Pendulum (SLIP) model is exposed and discussed. Next, the stability...
This paper proposes a novel locomotion interface that can generate an infinite floor with various surfaces and can provide a user with proprioceptive feedback about walking. The interface allows users to experience life-like walking in virtual environments with various terrains. The interface...
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