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— A new versatile Hydraulically-powered Quadruped robot (HyQ) has been developed to serve as a platform to study not only highly dynamic motions such as running and jumping, but also careful navigation over very rough terrain. HyQ stands 1 meter tall, weighs roughly 90kg and features 12 torque-controlled joints powered by a combination of hydraulic and(More)
— We present a framework for quadrupedal lo-comotion over highly challenging terrain where the choice of appropriate footholds is crucial for the success of the behaviour. We use a path planning approach which shares many similarities with the results of the DARPA Learning Locomotion challenge and extend it to allow more flexibility and increased(More)
control of a hydraulically-driven biologically-inspired robotic leg. The study is part of a larger project aiming at the development of an autonomous quadruped robot (hyQ) for outdoor operations. The leg has two hydraulically-actuated degrees of freedom (DOF), the hip and knee joints. The actuation system is composed of proportional valves and asymmetric(More)
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing nested control systems is to maximize the band-width of the inner loop to improve tracking performance, it may not be the(More)
— We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line and on-board using an efficient occupancy grid representation. We use Anytime Repairing A* (ARA*) to search over a tree of possible actions,(More)