UC Berkeley and CMU researchers demonstrate dynamic walking on stepping stones
Like humans and most terrestrial animals, legged robots need the ability to move over rugged terrain to be useful in applications such as disaster response and search and rescue. However, designing control algorithms that can handle discrete footholds (like rubble or stepping stones) is challenging, because there are strict constraints on foot placement that can’t be violated and the motion of these systems are governed by complex dynamical equations.
By leveraging recent advances in optimal and nonlinear control systems, our labs at the University of California, Berkeley, and Carnegie Mellon University have demonstrated dynamic walking on stepping stones on the ATRIAS robot, even when the distance between the stones as well as their height is varied randomly.
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