Planning Natural Locomotion for Articulated Soft Quadrupeds
Mathew Jose Pollayil,Cosimo Della Santina,George Mesesan,Johannes Englsberger,Daniel Seidel,Manolo Garabini,Christian Ott,Antonio Bicchi,Alin Albu-Schaffer,Mathew Jose Pollayil,Cosimo Della Santina,George Mesesan,Johannes Englsberger,Daniel Seidel,Manolo Garabini,Christian Ott,Antonio Bicchi,Alin Albu-Schaffer
Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional trajectory generation with modal oscillations. Our method u...
