Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization
J. Diego Caporale,Zeyuan Feng,Shane Rozen-Levy,Aja Mia Carter,Daniel E. Koditschek,J. Diego Caporale,Zeyuan Feng,Shane Rozen-Levy,Aja Mia Carter,Daniel E. Koditschek
Modern legged robot morphologies assign most of their actuated degrees of freedom (DoF's) to the limbs and designs continue to converge to twelve DoF quadrupeds with three actuators per leg and a rigid torso often modeled as a Single Rigid Body (SRB). This is in contrast to the animal kingdom, which provides tantalizing hints that core actuation of a jointed torso confers substantial benefit for e...
