ICRA'09 Paper Abstract


Paper FrA2.13

Byl, Katie (Harvard), Tedrake, Russ (Massachusetts Institute of Technology)

Dynamically Diverse Legged Locomotion for Rough Terrain

Scheduled for presentation during the Video Sessions "Video Session" (FrA2), Friday, May 15, 2009, 09:42−09:48, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Legged Robots and Humanoid Locomotion, Underactuated Robots, Motion Control


In this video, we 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 range of dynamic motion is possible through careful reasoning about the coupled, underactuated dynamics. Our results demonstrate visceral progress toward realization of one of the central theoretically claims giving legged locomotion a ``leg-up'' over wheeled robotics: that appropriate design of control can produce a set of capabilities which span a dynamic range from deliberate foothold selection through acrobatic-style motion on a single, particular robot.



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