Spined Torso Renders Advanced Mobility for Quadrupedal Locomotion
Jichao Wang,Jinyu Cheng,Jiangtao Hu,Wei Gao,Shiwu Zhang,Jichao Wang,Jinyu Cheng,Jiangtao Hu,Wei Gao,Shiwu Zhang
Animals possessing spinal columns often exhibit exceptional agility for highly dynamic locomotion. The spine grants the trunk with increased degrees of freedom, thereby endowing diverse postures. This paper presents the development of a robot STRAY for quadrupedal locomotion, featuring a four-degree-of-freedom spine design. Using trajectory based reinforcement learning techniques, STRAY is able to...
