TY - GEN
T1 - A controller for the LittleDog quadruped walking on rough terrain
AU - Rebula, John R.
AU - Neuhaus, Peter D.
AU - Bonnlander, Brian V.
AU - Johnson, Matthew J.
AU - Pratt, Jerry E.
PY - 2007
Y1 - 2007
N2 - We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific control issues, such as impassable terrain and unmodeled foot slippage. The controller architecture supports multiple gaits, and we present both a stable omnidirectional gait and a faster directional gait. The robot successfully negotiates obstacles up to 7.5 cm (≈40% leg length) tall and navigates over rocky terrain.
AB - We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific control issues, such as impassable terrain and unmodeled foot slippage. The controller architecture supports multiple gaits, and we present both a stable omnidirectional gait and a faster directional gait. The robot successfully negotiates obstacles up to 7.5 cm (≈40% leg length) tall and navigates over rocky terrain.
UR - https://www.scopus.com/pages/publications/36348947998
U2 - 10.1109/ROBOT.2007.363191
DO - 10.1109/ROBOT.2007.363191
M3 - Conference contribution
AN - SCOPUS:36348947998
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1467
EP - 1473
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -