LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot
John Nicholson,Jay Jasper,Ara Kourchians,Greg McCutcheon,Max Austin,Mark Gonzalez,Jason Pusey,Sisir Karumanchi,Christian Hubicki,Jonathan Clark,John Nicholson,Jay Jasper,Ara Kourchians,Greg McCutcheon,Max Austin,Mark Gonzalez,Jason Pusey,Sisir Karumanchi,Christian Hubicki,Jonathan Clark
This paper describes the design, control and initial experimental results of the quadruped robot LLAMA. Designed to operate in a human-scale world, this 67kg-class, all-electric robot is capable of rapid motion over a variety of terrains. Thanks to a unique leg configuration and custom high-torque, low gear-ratio motors, it can move omnidirectionally at speeds over 1 m/s. A hierarchical reactive c...
