Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots
Yanhao Yang,Joseph Norby,Justin K. Yim,Aaron M. Johnson,Yanhao Yang,Joseph Norby,Justin K. Yim,Aaron M. Johnson
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected height variations such as rocky hills or curbs. To enable dynamic traversal of extreme terrain, this work introduces 1) a proprioception-based gait planner for es...
