Abstract: A robot control system may be configured to control a robot having a plurality of limbs. The robot control system may control the robot to crawl, to open a door, to bound and or to climb stairs.

Abstract: According to one aspect, this invention provides an apparatus for varying the stiffness of a leg of a robotic system. The apparatus includes a compliant spine assembly including a compliant spine mounted for movement adjacent the leg and a rack coupled to the compliant spine. It also includes a motor assembly positioned to move the compliant spine of the compliant spine assembly with respect to the leg, the motor assembly including a gear engaging the rack of the compliant spine assembly and a motor coupled to drive the gear. The compliant spine of the compliant spine assembly is configured to vary the stiffness of the leg of the robotic system as it is moved by the motor assembly with respect to the leg.

Abstract: According to one aspect, this invention provides an apparatus for varying the stiffness of a leg of a robotic system. The apparatus includes a compliant spine assembly including a compliant spine mounted for movement adjacent the leg and a rack coupled to the compliant spine. It also includes a motor assembly positioned to move the compliant spine of the compliant spine assembly with respect to the leg, the motor assembly including a gear engaging the rack of the compliant spine assembly and a motor coupled to drive the gear. The compliant spine of the compliant spine assembly is configured to vary the stiffness of the leg of the robotic system as it is moved by the motor assembly with respect to the leg.

Abstract: A mobile robot comprising a body and at least six compliant legs each having only one actuator. The compliant legs are mounted to the body for movement relative thereto in a single degree of freedom. A controller is operably coupled to the actuator of each compliant leg, the controller selectively actuates the actuators to drive the compliant legs in an alternating tripod gait.

Abstract: A mobile robot comprising a body and at least six compliant legs each having only one actuator. The compliant legs are mounted to the body for movement relative thereto in a single degree of freedom. A controller is operably coupled to the actuator of each compliant leg, the controller selectively actuates the actuators to drive the compliant legs in an alternating tripod gait.

Abstract: A method of machine control including the recreation of a tone reproduction curve by providing a look up table. The look up table incorporates a covariance matrix of elements containing n tone reproduction samples. A matrix multiplier responds to sensed developed patch samples and to the look up table to reproduce a complete tone reproduction curve. A control reacts to the reproduced tone reproduction curve to adjust machine quality.

Abstract: Fundamental machine functions such as the Tone Reproduction Curve need to be divided into regions of smaller units so that each unit can be interrelated to some aspects of the internal machine process. A first step toward that is by decomposing measured TRC in terms of what are known as "orthogonal basis functions". Two significant applications for orthogonal basis functions may be extensive use in color controls to maintain color consistency for every page, every time and all the time. The use of basis functions might also lead to a new soft sensor for use in certain machines.