In this project, we systematically investigated passive dynamic gaits that emerge from the natural mechanical dynamics of a bipedal legged system. To this end, we developed an energetically conservative, yet complete dynamical model of a biped.
To investigate the underlying mechanisms of jerboas’ frequent gait transitions and gaits of horses, we modeled them using simplified spring mass template models and used optimizations to identify the key parameters.
We use trajectory optimization and the full body models of the robots to generate reference trajectories with different footfall patterns.
We are developing bounding and pronking gait controllers for two quadrupedal robots A1 and Aliengo from Unitree Robotics using iterative learning approach.