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Real-time Dynamic Gaits for ANYmal Robot

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Remember ANYmal? It is a quadrupedal robot capable of navigating challenging terrain. It can plan its path and select footholds while walking. Researchers at Robotic Systems Lab have come up with a real-time control method that allows it to execute trot, dynamic lateral walk, jumping and other gaits.

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Dynamic Locomotion through Online Nonlinear Motion Optimization for Quadrupedal Robots

An online ZMP based motion planner is used to “continuously update the reference motion trajectory as a function of the contact schedule and the state of the robot. […] Reference footholds for each leg are obtained by solving an optimization problem. The optimized motion plans are tracked by a hierarchical whole-body controller.”


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