Quadrupedalism

Learning agile and dynamic motor skills for legged robots

Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, C. Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter

Citations: 1398 • 2019

Learning quadrupedal locomotion over challenging terrain

Citations: 1024 • 2020

Policy gradient reinforcement learning for fast quadrupedal locomotion

Nate Kohl, Peter Stone

Citations: 585 • 2004

Development of quadruped walking robots: A review

Priyaranjan Biswal, Prases K. Mohanty

Citations: 336 • 2020

Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot

Ioannis Poulakakis, James Andrew Smith, M. Buehler

Citations: 268 • 2005

Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

S. de Rivaz, Benjamin Goldberg, Neel Doshi, Kaushik Jayaram, Jack G. Zhou, Robert J. Wood

Citations: 237 • 2018

STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION

MARCO HUTTER, Christian Gehring, Michael Bloesch, Mark A. Hoepflinger, C. David Remy, Roland Siegwart

Citations: 234 • 2012

High-slope terrain locomotion for torque-controlled quadruped robots

Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini

Citations: 204 • 2016

Control of dynamic gaits for a quadrupedal robot

Christian Gehring, Stelian Coros, Marco Hutter, Michael Bloesch, Markus A. Hoepflinger, Roland Siegwart

Citations: 202 • 2013

Robust Rough-Terrain Locomotion with a Quadrupedal Robot

Péter Fankhauser, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, Marco Hutter

Citations: 200 • 2018

Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

Citations: 195 • 2019

High speed locomotion for a quadrupedal microrobot

Andrew T. Baisch, Onur Özcan, Benjamin Goldberg, Daniel Ithier, Robert J. Wood

Citations: 172 • 2014

Keep Rollin’ - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis Sako, Fabian Tresoldi, Fabian Jenelten, Marco Hutter

Citations: 168 • 2019

A reactive controller framework for quadrupedal locomotion on challenging terrain

Victor Barasuol, Jonas Buchli, Claudio Semini, Marco Frigerio, Edson Roberto De Pieri, Darwin G. Caldwell

Citations: 167 • 2013

On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait

Ioannis Poulakakis, Evangelos Papadopoulos, M. Buehler

Citations: 165 • 2006

A Controller for the LittleDog Quadruped Walking on Rough Terrain

John R. Rebula, Peter Neuhaus, Brian Bonnlander, Matthew J. Johnson, Jerry Pratt

Citations: 162 • 2007

Quadrupedal locomotion: an introduction to the control of four-legged robots

Citations: 160 • 2006

Controllable water surface to underwater transition through electrowetting in a hybrid terrestrial-aquatic microrobot

Yufeng Chen, Neel Doshi, Benjamin Goldberg, Hongqiang Wang, Robert J. Wood

Citations: 156 • 2018

STARLETH: A compliant quadrupedal robot for fast, efficient, and versatile locomotion

Marco Hutter, Christian Gehring, Michael Bloesch, Mark A. Hoepflinger, C. David Remy, Roland Siegwart

Citations: 153 • 2012

Machine learning for fast quadrupedal locomotion

Nate Kohl, Peter Stone

Citations: 151 • 2004