Bounding on Rough Terrain with the LittleDog Robot

A motion planning algorithm is described for bounding over rough terrain with the LittleDog robot. Unlike walking gaits, bounding is highly dynamic and cannot be planned with quasi-steady approximations. LittleDog is modeled as a planar five-link system, with a 16-dimensional state space; computing...

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Bibliographic Details
Main Authors: Shkolnik, Alexander C., Levashov, Michael, Manchester, Ian R., Tedrake, Russell Louis
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Sage 2011
Online Access:http://hdl.handle.net/1721.1/61974
https://orcid.org/0000-0002-8712-7092