A Robust Quadruped Walking Gait for Traversing Rough Terrain

  title={A Robust Quadruped Walking Gait for Traversing Rough Terrain},
  author={Dimitris Pongas and Michael Mistry and Stefan Schaal},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
Legged locomotion excels when terrains become too rough for wheeled systems or open-loop walking pattern generators to succeed, i.e., when accurate foot placement is of primary importance in successfully reaching the task goal. In this paper we address the scenario where the rough terrain is traversed with a static walking gait, and where for every foot placement of a leg, the location of the foot placement was selected irregularly by a planning algorithm. Our goal is to adjust a smooth walking… CONTINUE READING
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