Positronics Lab

Legged Locomotion Research

  • December 01, 2016

    Robot Demo Videos

    This page contains a collection of video demonstrations of the Pacer library.Quadrupeds (in situ)RC Quadruped (Links robot)Version 1Version 2Version 3Interactive, Iterative DesignPacer Locomotion SoftwareControl with poor modelingTraversing Obstac...

  • May 10, 2015

    High-level Quadruped Control (Joystick)

    RC QuadrupedDemonstration of the RC quadruped Links.This demo uses the Pacer library.Version 1Version 2

  • November 01, 2014

    Pacer: Robot Locomotion Software

    Pacer: locomotion planning and control for legged robots.Project page:https://github.com/PositronicsLab/Pacer Inverse dynamics for a quadruped on terrainInverse dynamics for a bipedInverse dynamics for a quadruped on a planar surface

  • August 01, 2014

    Running with a simulated quadruped

    We use Pacer to make a quadrupedal robot run in a multi-rigid body simulation with rigid contact.The robot is controlled using (1) joint error-feedback (PID) control (unilateral contact with friction); (2) inverse dynamics (unilateral contac...

  • July 01, 2014

    Simulation of hopping robot

    This is a Moby simulation of a hopping robot on terrain. Sam Zapolsky implemented the controller for the robot, which we simulated using adaptive integration (Bulirsch-Stoer) and continuous collision detection.