Opportunities for Adaptation and Learning in Dynamically Stable Legged Robots

This paper addresses the control and aspects of modeling for Scout II, an autonomous four-legged robot with only one actuator per compliant leg. The running controller requires minimal task level feedback, yet achieves reliable, efficient and fast running up to 1.2 m/s apparently complex dynamically dexterous tasks may be controlled via simple control laws. We demonstrate the need to model the actuators and the power source of the robot system carefully in order to obtain experimentally valid models for simulation and analysis. The availability of validated models and the small number of controller parameters, makes this type of robot a good candidate for further performance improvements based on adaptation and learning.

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