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Reliable Dynamic Motions for a Stiff Quadruped

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 54))

Summary

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 and body pose selections which allow for precise foothold placement on rough or intermittent terrain.

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References

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Author information

Authors and Affiliations

  1. Computer Science and Artificial Intelligence Lab, MIT, Cambridge, MA 02139,  

    Katie Byl, Alec Shkolnik, Sam Prentice, Nick Roy & Russ Tedrake

Authors
  1. Katie Byl
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  2. Alec Shkolnik
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  3. Sam Prentice
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  4. Nick Roy
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  5. Russ Tedrake
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Editor information

Editors and Affiliations

  1. Artificial Intelligence Laboratory Department of Computer Science, Stanford University, CA 94305-9010, Stanford, USA

    Oussama Khatib

  2. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 3330 Walnut Street, PA 19104, Philadelphia, USA

    Vijay Kumar

  3. Department of Electrical and Systems Engineering, University of Pennsylvania, 460 Levine Hall, 200 South 33rd Street, PA 19104, Philadelphia, USA

    George J. Pappas

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© 2009 Springer-Verlag Berlin Heidelberg

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Byl, K., Shkolnik, A., Prentice, S., Roy, N., Tedrake, R. (2009). Reliable Dynamic Motions for a Stiff Quadruped. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_37

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  • DOI: https://doi.org/10.1007/978-3-642-00196-3_37

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-00195-6

  • Online ISBN: 978-3-642-00196-3

  • eBook Packages: EngineeringEngineering (R0)

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