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...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Sage
2011
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| Online Access: | http://hdl.handle.net/1721.1/61974 https://orcid.org/0000-0002-8712-7092 |