— 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...
— 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,...
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to p...
Matthew Zucker, Nathan D. Ratliff, Martin Stolle, ...
— While underactuated robotic systems are capable of energy efficient and rapid dynamic behavior, we still do not fully understand how body dynamics can be actively used for ada...
— We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms t...
Matthew Zucker, James A. Bagnell, Christopher G. A...