Positronics Lab

Inverse Dynamics with Contact Force Prediction

September 01, 2013 | 0 Minute Read

Samuel Zapolsky, Evan Drumwright, Ioannis Havoutis, Jonas Buchli, and Claudio Semini. “Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces”. Proc. 16th Intl. Conf. on Climbing and Walking Robots (CLAWAR), Sydney, Austrailia, July 2013. Zapolsky2013

Locomoting unsuccessfully and falling on a Slippery Surface while using a PD error-feedback controller:

Screen Shot 2013-08-21 at 2.19.59 PM

Locomoting Smoothly on a Slippery Surface while using our controller

Screen Shot 2013-08-21 at 2.19.35 PM 

This research was a collaborative effort between the Advanced Robotics Lab at the Fondazione Istituto Italiano di Tecnologia (HyQ Team At IIT) and The Positronics Lab at The George Washington University.