Dynamically Diverse Legged Locomotion for Rough Terrain

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#Katie Byl #Russ Tedrake #Legged Robots and Humanoid Locomotion #Underactuated Robots #Motion Control #kinodynamic planning strategy #highimpedance quadruped

In this video, the authors 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 video shows the effectiveness of a kinodynamic planning strategy that allows a high-impedance quadruped to operate across a variety of rough terrain. The robot can achieve precise foothold selection on intermittent terrain and can also execute highly dynamic and underactuated motions with high repeatability.

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