Robots Step Outside: September 2005
Robots Step Outside: September 2005
Robots Step Outside: September 2005
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IV. EXPERIMENTS
Based, in part, on gait control concepts described above, we
have implemented walking and trotting gaits, as well as
standing up and sitting down. Since its creation in the fall of
2004, BigDog has already logged tens of hours of walking,
climbing and running time. It has walked up and down 35
degree inclines (a 25 deg incline shown in Fig. 10), trotted
(Fig. 11) at speeds up to 0.8 m/s and carried over 50 kg of
payload (Fig. 12).
ACKNOWLEDGEMENTS
BigDog is the result of the ingenuity, hard work and talent
of many individuals at Boston Dynamics, and our partners at
Foster-Miller (DogChow), JPL (vision system), and Harvard
University (biology).
REFERENCES
[1] Walking Machine Catalogue, http://www.walking-machines.org/
[2] D. C. Kar: Design of Statically Stable Walking Robot: A Review, J.
Figure 10: Incline Robotic Systems, 20(11):671-686, 2003.
[3] U. Saranli, M. Buehler, and D. E. Koditschek, “RHex: A Simple and
Highly Mobile Hexapod Robot,” Int. J. Robotics Research, Vol. 20, No.
7, pp. 616-631, 2001.
[4] M. H. Raibert, Legged Robots That Balance, MIT Press, Cambridge,
MA, 1986.