Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
131 tokens/sec
GPT-4o
10 tokens/sec
Gemini 2.5 Pro Pro
47 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot (2303.02280v4)

Published 4 Mar 2023 in cs.RO

Abstract: A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits designed for a quadrupedal robot suffering from a single, known "missing" limb. Preliminary data suggests that the featured gait controller successfully anchors a previously developed planar monopedal hopping template in the three-legged spatial machine. This compositional approach offers a useful and generalizable guide to the development of a wider range of tripedal recovery gaits for damaged quadrupedal machines.

Citations (1)

Summary

We haven't generated a summary for this paper yet.