BigDog, the Rough-Terrain Quadruped Robot

By M. Raibert, Kevin Blankespoor, G. Nelson, R. Playter. 2008

1,631 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/86cf98c8ad25b3cb185b7524bccf32f77a91b616

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

In Control and Systems Engineering

In Mechanical Engineering

Citations in the corpus

A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots (2016, background): “Both pneumatic and hydraulic actuators have been applied in the past to prosthesis/orthoses [6]–[9], haptic devices, humanoids [10]–[14], and legged robots [15], [16] but their need for compressed air or fluid source is usually difficult to satisfy in a mobile system.”
A reactive controller framework for quadrupedal locomotion on challenging terrain (2013, background): “Boston Dynamics’ quadruped robots BigDog [9] and LS3 have shown impressive locomotion performance in several online videos in the past years.”
Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot (2013, background): “We proposed a robot design which is small and light-weight (m = 1.1 kg), compared with large quadruped robots such as BigDog (Raibert et al., 2008).”
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system (2018, neutral): “Control methods that depend on physical models, whether or not with reduced or simpliﬁed models, are able to produce dynamic actions [9], [10], [11], [12], [13], [14].”
The current state and future outlook of rescue robotics (2019, background): “Outside of the research world, Boston Dynamics has developed several quadrupedal platforms for military applications, including BigDog (Raibert et al., 2008), but no scientific publications exist describing any of their modern systems.”
ANYmal - a highly mobile and dynamic quadrupedal robot (2016, neutral): “In contrast to its predecessor StarlETH [10], the MIT cheetah [9], IIT HyQ [7], Big Dog [6] or other legged systems, the leg links of ANYmal are built with an offset such that all joints can be fully rotated.”
Visible and Thermal Image-Based Trunk Detection with Deep Learning for Forestry Mobile Robotics (2021, background): “In 2008, BigDog, one of the first autonomous quadruped robot capable of walking in rough and challenging terrains, appeared [1].”
Finite-time regional verification of stochastic non-linear systems (2011, background): “…recently in designing impressive control systems for this class of machine (e.g. Abbeel et al. 2006; Westervelt et al. 2007; Cory and Tedrake 2008; Raibert et al. 2008; Mellinger et al. 2010; Shkolnik et al. 2011), there is relatively little work on guaranteeing that these systems can achieve…”
ANYmal - toward legged robots for harsh environments (2017, methodology): “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.”
Aligning Cyber Space With Physical World: A Comprehensive Survey on Embodied AI (2024, neutral): “Both iGibson [49] and TDW [50] provide ﬁne-grained embodied control and highly simulated physical interactions. iGibson excels in offering abundant and realistic large-scale scenes, making it suitable for complex and long-term mobile operations, whereas TDW allows greater user freedom in scene…”
Learning, planning, and control for quadruped locomotion over challenging terrain (2011, methodology): “This line of research has recently resulted in the BigDog robot (Raibert et al. 2008) built by Boston Dynamics, which is a quadruped that uses a dynamically balanced trot gait to traverse rough terrain.”
Dynamic trotting on slopes for quadrupedal robots (2015, background): “Among quadrupedal robots, the ones that come closest to this type of performance are the Boston Dynamics BigDog [2] and LS3, which were shown trotting uphill and on rocky slopes.”
A Survey and Analysis of Multi-Robot Coordination (2013, neutral): “Several individual robots are well known, such as RHINO [18], ASIMO [19], MER-A [20], BigDog [21], NAO [22] and PR2 [147].”