Inertial-stabilized CPG with full SE(3) body pose control for locomotion, climbing, and payload balancing in extreme terrains

This project is extending our previous work in inertial-stabilized CPG-based locomotion of articulated legged robots in challenging terrains. Here, we explicitly control the pose of the body in SE(3) (as opposed to SO(3) only previously), allowing for more extreme terrains to be traversed or climbed (stairs, 45deg inclines, etc.) as well as payload balancing to be obtained.

People

Guillaume Sartoretti

Samuel Shaw