Rich Locomotion Skills with the Oncilla Robot

We are motivated to better understand how adaptive locomotion (rough terrain locomotion, turning, gait transition, etc) can be realized using a quadrupedal platform with constrained resources. These constraints include computational power limitation, no accurate force/torque sensing, and partial sensing of robot’s kinematic states. These constraints arise from the fact that we are designing and experimenting with autonomous light-weight and (comparatively) cheap quadruped robots. The practical benefit of such robots is fast experimentation: experiments can be safely done with presence of one or two humans, and repairs are cheap and quick.


Presented at:
Dynamic Walking 2014, Zurich, Switzerland, June 10-13, 2014
Year:
2014
Keywords:
Laboratories:




 Record created 2014-10-20, last modified 2018-09-13

Preprint:
Download fulltext
PDF

Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)