Rich Locomotion Skills with the Oncilla Robot
نویسندگان
چکیده
We are motivated to better understand how adaptive locomotion (rough terrain locomotion, turning, gait transition, etc) can be realized using a quadrupedal platform with constrained resources. These constraints include computational power limitation, no accurate force/torque sensing, and partial sensing of robot’s kinematic states. These constraints arise from the fact that we are designing and experimenting with autonomous light-weight and (comparatively) cheap quadruped robots. The practical benefit of such robots is fast experimentation: experiments can be safely done with presence of one or two humans, and repairs are cheap and quick.
منابع مشابه
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is ...
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