Over the years our lab has developed software to let robots run sprints and marathons, play ice hockey, and even cross-country ski. But how do these gaits compare with each other?
We recorded logs of the robots walking, skiing, and skating and rendered wireframe animations of each gait so you can see them all beside each other in real-time.
Each gait is based on the linear inverted pendulum model. Different parameters for stride length, stride height, speed, arm motions, and hip sway are used for each gait, giving very different results, as you can see in this video.
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