— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...
Jonas Buchli, Mrinal Kalakrishnan, Michael Mistry,...
— Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that...
— We address the problem of foothold selection in robotic legged locomotion over very rough terrain. The difficulty of the problem we address here is comparable to that of human...
Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, S...
— Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property o...
— 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 e...