Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot
By Sangok Seok, Albert Wang, Meng Yee Michael Chuah, D. Otten, J. Lang, Sangbae Kim. IEEE International Conference on Robotics and Automation, 2013
463 citations recorded by the source corpus.
Subfields: Biomedical Engineering, Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/77fc0a156c7eb0ca0c62ec3bb651351c40b1886c
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Biomedical Engineering
- Marco Hutter
- Jemin Hwangbo
- Vladlen Koltun
- Benjamin Katz
- Jared Di Carlo
- Sangbae Kim
- Gerardo Bledt
- Dario Bellicoso
In Control and Systems Engineering
- Marco Hutter
- Jemin Hwangbo
- Vladlen Koltun
- Davide Scaramuzza
- Alexey Dosovitskiy
- Dario Bellicoso
- Michael Blösch
- Vassilios Tsounis
Citations in the corpus
- The current state and future outlook of rescue robotics (2019, methodology): “While many quadrupedal research platforms have been developed (with hydraulic [Semini et al., 2015], electrical [Seok et al., 2013], or series‐elastic actuation [Hutter et al., 2012]), only ANYmal (Hutter et al., 2017) has been used in real‐world applications (see Figure 2).”
- MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot (2018, background): “Therefore, the most efficient gait for the robot at a given speed does not necessarily correspond to the one used by animals as determined in [24].”
- Learning agile and dynamic motor skills for legged robots (2019, background): “Most legged systems are driven by hydraulic actuators [51] or electric motors with gears [3], and some even include dedicated mechanical compliance [5, 52].”
- ANYmal - a highly mobile and dynamic quadrupedal robot (2016, unknown): “Similar locomotion performance, demonstrated in various highly dynamic gaits and maneuvers, was also achieved by research groups around IIT’s hydraulic HyQ [7] and its follower HyQ2max [8], MIT’s directly electrically actuated cheetah [9], or ETH’s serial elastic robot StarlETH [10].”
- ANYmal - toward legged robots for harsh environments (2017, background): “In contrast to its predecessor StarlETH [11], the MIT cheetah [10], IIT HyQ [8], Big Dog [7], or other legged systems, the leg links of ANYmal are built with an offset such that all joints can be fully rotated.”