The Robotics, Biomechanics, and Dynamic Systems Laboratory

We can dream can't we?

Motion Control for Agile Robots
Daniel Montrallo Flickinger, George Teng

The video clips on this page show simulations of a planar quadruped using a performance-based motion principle to generate agile locomotion. Agility describes a system's ability to abruptly change its state; e.g. fast stops and starts and quick direction changes. The motion principle used here allows the planar quadruped to quickly change directions. More details are given in the papers on the previous page.


Download     by Sean Harmeyer     8/23/2006
This video shows the planar quadruped quickly jumping back and forth; this represents agility for a planar system. Although the motion appears slow, the quadruped achieves a max forward speed of 12 m/s and a maximum backward speed of -6 m/s which are quite high.


The Robotics, Biomechanics, and Dynamic Systems Laboratory

last updated July 30, 2009