Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control
Dongho Kang,Simon Zimmermann,Stelian Coros,Dongho Kang,Simon Zimmermann,Stelian Coros
In this paper, we explore the challenge of generating animal-like walking motions for legged robots. To this end, we propose a versatile and robust control pipeline that combines a state-of-the-art model-based controller with a data-driven technique that is commonly used in computer animation. We demonstrate the efficacy of our control framework on a variety of quadrupedal robots in simulation. We...
