2023
Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization
ICRA 2023poster
Modern legged robot morphologies assign most of their actuated degrees of freedom (DoF's) to the limbs and designs continue to converge to twelve DoF quadrupeds with three actuators per leg and a rigid torso often modeled as a Single Rigid Body (SRB). This is in contrast to the animal kingdom, which…