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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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.
Date issued
2009-03
URI
http://hdl.handle.net/1721.1/59530
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
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
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