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Dynamic Trotting for Quadrupedal Robots by Tuấn Chọc is a document available to read on EtoBox.
What is Dynamic Trotting for Quadrupedal Robots about?
The paper discusses a method for enabling dynamic trotting on sloped terrains for quadrupedal robots, specifically focusing on the StarlETH robot. It highlights the importance of accurately estimating terrain parameters, such as pitch and roll angles, to optimize foothold planning and ground reaction forces to prevent slippage. The proposed approach combines inertial measurements, kinematic data, and contact information to robustly estimate terrain inclination, allowing the robot to effectively trot on slop
- Author
- Tuấn Chọc
- Language
- EN