Human Like Multi Contact Walking with AMBER 2

Demonstration of humanlike mulitcontact locomotion on the bipedal robot AMBER. In particular, as inspired by humanlocomotion, the robot demonstrates three phases of walking throughout the walking gait characterized by changing contact points at the heel and toe. Furthermore, these changing contact points result in different three different types of actuation throughout the walking gait: full actuation, underactuation and over actuation. The end result is humanlike locomotion on the robot. More