As part of the Army Research Lab’s (ARL) Robotics Collaborative Technology Alliance (RCTA), we are developing new planning and control algorithms for quadrupedal robots. The goal of our project is to equip the robot LLAMA, developed by NASA JPL, with the skills it needs to move at operational tempo over difficult terrain to keep up with a human squad. This requires innovative perception, planning, and control techniques to make the robot both precise in execution for navigating technical obstacles and robust enough to reject disturbances and recover from unknown errors.
