Science Robotics

Supplementary Materials

The PDF file includes:

  • Fig. S1. Stances during teleoperation.
  • Fig. S2. Swing foot vertical trajectory.
  • Fig. S3. Right-to-left motion teleoperation via bilateral feedback.
  • Fig. S4. Motion synchronization using force feedback.
  • Fig. S5. Gantries used to constrain the robot during experiments.
  • Fig. S6. Soft force sensors used for the robot feet.
  • Fig. S7. Bipedal robot contact force control.
  • Fig. S8. BFI force control.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Teleoperation of stepping in place.
  • Movie S2 (.mp4 format). Robot autonomous balancing controller.
  • Movie S3 (.mp4 format). Teleoperation of constrained walking.
  • Movie S4 (.mp4 format). Teleoperation of consecutive jumps.
  • Movie S5 (.mp4 format). Compilation of unsuccessful stepping experiments.

Files in this Data Supplement: