MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control strategies for dynamic locomotion and features high-bandwidth proprioceptive actuators to manage physical interaction with the en...

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Bibliographic Details
Main Authors: Bledt, Gerardo (Author), Powell, Matthew J. (Author), Katz, Benjamin (Author), Di Carlo, Jared (Author), Wensing, Patrick M. (Author), Kim, Sangbae (Author)
Other Authors: Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2020-08-17T15:37:11Z.
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