Greg McCutcheon

LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot

This paper describes the design, control and initial experimental results of the quadruped robot LLAMA. Designed to operate in a human-scale world, this 67kg-class, all-electric robot is capable of rapid motion over a variety of terrains. Thanks to a unique leg configuration and custom high-torque,…