Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
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- Опубліковано 6 жов 2019
- Donghyun Kim, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, and Sangbae Kim
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
Paper available at arxiv.org/abs/1909.06586 - Наука та технологія
Impressive for such a compact design.
Are you planning to add dynamic gait-switching?
Fantastic project!
😃 massa demais !
From a biomimetic perspective why two joint rather than 3 joint limbs, as currently the stride length is really short. I would’ve thought that having a three joint limb would increase the stride engraved and well the amount of spring. If it’s truly beneficial to have a two joint. Limb then why do we only see knee driven locomotion in birds for which all modern ground dwelling species are secondarily terrestrial?
Maybe it was too heavy then? Idk I don’t know much about robots or anything but maybe they wanted it to be small, but fast? Again, not a robot person.
Each leg has 3 joints, not 2. It would not be able to turn as dynamically without the abduction joint. Read the paper
Cheetah 2 from 2016 was achieving 5.8m/s, this one only 3.7m/s
They are in different sizes
Why was the leg movement design changed from the previous version ?! is it more efficient or just because it is more adaptable?
It will all be over soon BWAHAHAHAA!