Horse-like walking, trotting and galloping derived robot, Italian Institute of Technology (IIT), Genova, Italy

This video shows a compliant quadruped robot walking and trotting horse-like with kMPs-based trajectories. A smooth gait transition strategy is proposed.
The work presented is the result of a joint research involving the Deptartment of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), and the Biorobotics Laboratory, ?cole Polytechnique F?d?rale de Lausanne (EPFL).
For more details, please, refer to:
F.L. Moro, A. Spr?witz, A. Tuleu, M. Vespignani, N.G. Tsagarakis, A.J. Ijspeert, D.G. Caldwell, "Horse-Like Walking, Trotting and Galloping derived from kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot", Biological Cybernetics (2013)

Click to expand...