Compliant quadruped locomotion over rough terrain

@article{Buchli2009CompliantQL,
  title={Compliant quadruped locomotion over rough terrain},
  author={Jonas Buchli and Mrinal Kalakrishnan and Michael Mistry and Peter Pastor and Stefan Schaal},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={814-820}
}
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 selection, recovery strategies to name a few. All these criteria have to be accounted for in the planning as well as the control phase. Most legged robots usually employ high gain position control, which means that it is crucially important that the planned reference trajectories are a good match for the actual terrain, and… CONTINUE READING
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