Dynamically diverse legged locomotion for rough terrain
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Tedrake_Dynamically diverse.pdf
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244.53 KB
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Adobe PDF
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Author(s)
Byl, Katie
Tedrake, Russell Louis
Date Issued
May 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Byl, Katie, and Russ Tedrake. “Dynamically Diverse Legged Locomotion for Rough Terrain.” Proceedings of the 2009 IEEE International Conference on Robotics and Automation, Kobe International Conference Center, Kobe, Japan, May 12-17, 2009 1607-1608. © Copyright 2009 IEEE.
Version
Final published version
Abstract
In this video, we demonstrate the effectiveness of a kinodynamic planning strategy that allows a high-impedance quadruped to operate across a variety of rough terrain. At one extreme, the robot can achieve precise foothold selection on intermittent terrain. More surprisingly, the same inherently-stiff robot can also execute highly dynamic and underactuated motions with high repeatability. This range of dynamic motion is possible through careful reasoning about the coupled dynamics during underactuated phases of motion. Our results demonstrate visceral progress toward realization of one of the central theoretically claims giving legged locomotion a “leg-up” over wheeled robotics: that appropriate design of control can produce a set of capabilities which span a dynamic range from deliberate foothold selection through acrobatic-style motion on a single, particular robot.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152757
