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This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5m tall robotic dog is torque controllable and very robust against impulsive loads during running or jumping. The presented machine was designed with a focus on outdoor suitability, simple maintenance,...
This article approaches the problem of controlling quadrupedal running and jumping motions with a parameterized, model-based, state-feedback controller. Inspired by the motor learning principles observed in nature, our method automatically fine tunes the parameters of our controller by repeatedly executing slight variations of the same motion task. This learn-through-practice process is performed...
This paper presents the successful implementation of force control strategies on a 12 ton walking excavator to optimize the ground reaction force distribution for better stability, less terrain damage and to reduce the operation complexity. Using cleverly arrange standard industrial valve components to separately control in- and out-flow of the hydraulic cylinders, we achieve accurate and fast joint...
This paper describes a hierarchical operational space control (OSC) method based on least square optimization and outlines different ways to reduce the dimensionality of the optimization vector. The framework allows to emulate various behaviors by prioritized task-space motion, joint torque, and contact force optimization. Moreover, a methodology is introduced to partially excite the natural dynamics...
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