Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot
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.
Cite
@article{arxiv.2303.02280,
title = {Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot},
author = {Abriana Stewart-Height and Daniel E. Koditschek},
journal= {arXiv preprint arXiv:2303.02280},
year = {2023}
}
Comments
Updated *increased font size on figures 2-6 *added a legend, replaced text with colors in figure 5a and 6a *made variables representing vectors boldface in equations 8-10 *expanded on calculations in equations 8-10 by adding additional lines *added a missing "2" to equation 8 (typo) *added mass of the robot to tables II and III *increased the width of figures 1 and 2