MEAM Ph.D. Thesis Defense: “Do the Twist: Toward Agile Control of an Axially Twisting Robotic Quadruped”
David Rittenhouse Laboratory Building, Room 4C4 209 S. 33rd Street, Philadelphia, PA, United StatesEven as they continue to improve, legged robots pale in comparison to their biological counterparts. This discrepancy is at least partly due to robots possessing an order of magnitude fewer degrees of freedom. In fact, most dynamically capable quadrupedal robots lack any degrees of freedom in the torso, opting instead for a simpler, single, rigid […]