Reliable Dynamic Motions for a Stiff Quadruped.

Abstract

Summary. We present a kinodynamic planning methodology for a high-impedance quadruped robot to negotiate a wide variety of terrain types with high reliability. We achieve motion types ranging from dynamic, double-support lunges for efficient loco-motion over extreme obstacles to careful, deliberate foothold and body pose selections which allow for precise foothold placement on rough or intermittent terrain. 1