Robot Locomotion Group

Littledog

Little Dog

Our work on Little Dog is a part of DARPA IPTO's Learning Locomotion Program. The goal of the project is to make the robot traverse extreme (large vertical excursions relative to the leg length of the dog), but known (given a high-resolution scan), terrain. The red glow in the pictures below is from a Vicon motion capture system which provides feedback for the position of the robot relative to the terrain.

Our team members include:
Emma Brunskill, Katie Byl, Michael Price, Steve Proulx, Khash Rohanimanesh, Nick Roy, Alec Shkolnik, and Russ Tedrake

Real Robot Movies


Little Dog Crossing Terrain 'G'	Little Dog Crossing Terrain 'D'

Simulation Movies

Using hand-tuned feedback and single leg kinematics:

Flat terrain w/ a step
Rough terrain

Using whole-body Jacobians (allowing independent control of COM and swing leg endpoint when 3+ feet are on the ground). Walking examples use an overly conservative COM strategy, always regulating to the center of the support polygon:

Swing Leg Figure 8
Huge Swing Leg Figure 8
COM Figure 8
COM Figure 8 (3 legs)
Walking
Walking over a Step
Walking over a Plank

Group Members
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