Legged Locomotion Research
December 01, 2016
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
RC QuadrupedDemonstration of the RC quadruped Links.This demo uses the Pacer library.Version 1Version 2
November 01, 2014
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
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
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.