Reliable Dynamic Motions for a Stiff Quadruped
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Author(s)
Roy, Nicholas
Byl, Katherine Ann
Shkolnik, Alexander C
Prentice, Samuel James
Tedrake, Russell Louis
Date Issued
March 2009
Journal
International Symposium on Experimental Robotics
Publisher
Springer
Citation
Byl, Katie et al. “Reliable Dynamic Motions for a Stiff Quadruped.” Experimental Robotics. Springer Berlin / Heidelberg, 2009. 319-328. © 2009, Springer
Version
Author's final manuscript
Abstract
We present a kinodynamic planning methodology for a high-impedance quadruped robot to negotiate a wide variety of terrain types with high reliability. We achieve motion types ranging from dynamic, double-support lunges for efficient locomotion over extreme obstacles to careful, deliberate foothold and body pose selections which allow for precise foothold placement on rough or intermittent terrain.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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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.
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DOI of Published Version
https://doi.org/10.1007/978-3-642-00196-3_37
