Reliable Dynamic Motions for a Stiff Quadruped
Author(s)Roy, Nicholas; Byl, Katherine Ann; Shkolnik, Alexander C; Prentice, Samuel James; Tedrake, Russell Louis
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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.
DepartmentMassachusetts 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
International Symposium on Experimental Robotics
Byl, Katie et al. “Reliable Dynamic Motions for a Stiff Quadruped.” Experimental Robotics. Springer Berlin / Heidelberg, 2009. 319-328. © 2009, Springer
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