Reliable Dynamic Motions for a Stiff Quadruped

Reliable Dynamic Motions for a Stiff Quadruped

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 a...

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Bibliographic Details
Main Authors: Roy, Nicholas (Contributor), Byl, Katherine Ann (Contributor), Shkolnik, Alexander C (Contributor), Prentice, Samuel James (Contributor), Tedrake, Russell Louis (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Springer, 2010-10-26T20:06:28Z.
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