Quadruped Robot runs on Rough Terrain – LittleDog

Quadruped Robot runs on Rough Terrain - LittleDog
Walking turns out to be a challenging problem because the system is under-actuated. There is limited or no actuation between each foot and the ground, unlike robotic arm manipulators where the base of the system is rigidly attached to some immobile or heavy base, and an actuator at this base (and any other joints) allows ...