Walking and Running with StarlETH
This paper presents the latest advances we made in static and dynamic locomotion with our compliant quadrupedal robot StarlETH. It summarizes the robot design and outlines the different underlying control principles used to achieve sophisticated locomotion performance. The focus of the paper is put on experimental findings which illustrate that the applied actuation and control principles are a valuable approach to bring our robotic devices a step closer to their natural counterparts.
Record created on 2013-10-03, modified on 2016-08-09