Do the Twist
DETAILS COMING SOON…
Do The “Twist”:
A Twisting Quad
Designed and built a 12+1 degree-of-freedom, robotic quadruped inspired by the Ghost Spirit 40 and MIT Mini-Cheetah. This robot is being used to test legged locomotion control methodologies and biomechanical hypotheses about the twisting spine.
More Details Coming….
Understanding Agility with a Twisting Spine
Most classical and MPC controllers focus on locomotion on a 2.5D surface, but for more dynamic parkour behaviors, we must move out off the sagittal and transverse planes. Inspired by squirrels bouncing off walls, this work used trajectory optimization to compute and compare the energetics twisting spines to rigid spines in a series of dynamic behaviors using Drake and DIRCON.
J. Diego Caporale 