Journal Article10.3182/20080706-5-KR-1001.01833
BigDog, the Rough-Terrain Quadruped Robot
TL;DR: The mission at Boston Dynamics is to develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living creatures, which will travel in outdoor terrain that is too steep, rutted, rocky, wet, muddy, and snowy for conventional vehicles.
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About: This article is published in IFAC Proceedings Volumes. The article was published on 01 Jan 2008. The article focuses on the topics: Robot.
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Citations
A spiking implementation of the lamprey's Central Pattern Generator in neuromorphic VLSI
Elisa Donati,Federico Corradi,Cesare Stefanini,Giacomo Indiveri +3 more
- 11 Dec 2014
TL;DR: This work proposes to implement a CPG network using neuromorphic electronic circuits, that can be directly interfaced to the robotic actuators of a bio-mimetic robotic lamprey, eliminating the distinction between software and hardware.
33
NimbRo Rescue: Solving Disaster-Response Tasks through Mobile Manipulation Robot Momaro
Max Schwarz,Tobias Rodehutskors,David Droeschel,Marius Beul,Michael Schreiber,Nikita Araslanov,Ivan Ivanov,Christian Lenz,Jan Razlaw,Sebastian Schüller,David Schwarz,Angeliki Topalidou-Kyniazopoulou,Sven Behnke +12 more
TL;DR: Momaro as mentioned in this paper is a mobile manipulation robot with four legs ending in steerable wheels, which allows it both to drive omnidirectionally and to step over obstacles or climb.
33
Force Control for Active Chassis Balancing
Marco Hutter,Philipp Leemann,Gabriel Hottiger,Ruedi Figi,Stefan Tagmann,Gonzalo J. Rey,George L. Small +6 more
TL;DR: In this paper, a new generation of high-performance hydraulic valves with integrated pressure feedback is proposed to achieve fast and accurate cylinder force tracking. But the authors also consider the unknown configuration and load of the cabin, arm, and bucket as system disturbances, whereby gravitational effects are approximated as well as possible.
Passive quadrupedal bounding with a segmented flexible torso
Qu Cao,Ioannis Poulakakis +1 more
- 24 Dec 2012
TL;DR: A reduced-order passive and conservative model with a segmented flexible torso and compliant legs is introduced to study torso-leg coordination, and can be used to inform feedback control synthesis by serving as a behavioral target for the control system.
Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-Legged Robots
Jingyuan Sun,Yangwei You,Xuran Zhao,Albertus Hendrawan Adiwahono,Chee-Meng Chew +4 more
- 09 Mar 2020
TL;DR: The proposed control framework comes as a hierarchical structure with three layers: hybrid foot placement planning, Centre of Mass trajectory optimization and whole-body control, and general mathematical representation of foot movement to analyze different motion modes and decide hybrid foot placements.
32
References
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Legged Robots That Balance
Marc H. Raibert,Ernest R. Tello +1 more
- 26 Mar 1986
TL;DR: Legged Robots that Balance as discussed by the authors describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments, and reveals that control of such machines is not particularly difficult.
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Trotting, pacing and bounding by a quadruped robot
TL;DR: It is found that each of the gaits that use the legs in pairs can be transformed into a common underlying gait, a virtual biped gait: a single set of control algorithms produce all three gaits, with modest parameter variations between them.
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Symmetry in running
TL;DR: Measurements of running in the cat and human show that the feet and body sometimes move as predicted by the even and odd symmetry functions.
Design of Statically Stable Walking Robot: A Review
TL;DR: Different vehicle configurations as well as leg mechanisms which are already explored by researchers are reviewed and the author hopes that this will serve as a brief account of previous research efforts and help future walking robot designers to develop more sophisticated machines.