Chapter 75 — Biologically Inspired Robotics

MIT Compass Gait Robot - Locomotion over rough terrain

This video shows an experiment of the MIT Compass Gait Robot for locomotion over rough terrain. This platform takes advantage of point-feet of compass-gait robots which are usually advantageous for locomotion in challenging, rough terrains. The motion controller uses a simple oscillator because of the intrinsic dynamic stability of this robot.
Fumiya Iida, Auke Ijspeert
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Russ Tedrake, Robot Locomotion Group, Massachusetts Institute of Technology