Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots
Wen-Loong Ma,Noel Csomay-Shanklin,Aaron D. Ames,Wen-Loong Ma,Noel Csomay-Shanklin,Aaron D. Ames
Can we design motion primitives for complex legged systems uniformly for different terrain types without neglecting modeling details? This paper presents a method for rapidly generating quadrupedal locomotion on sloped terrains-from modeling to gait generation, to hardware demonstration. At the core of this approach is the observation that a quadrupedal robot can be exactly decomposed into coupled...
