BigDog

被引：69

作者：

Playter, R. ^{[1
]}

Buehler, M. ^{[1
]}

Raibert, M. ^{[1
]}

机构：

[1] Boston Dynam, Cambridge, MA 02139 USA

来源：

UNMANNED SYSTEMS TECHNOLOGY VIII, PTS 1 AND 2 | 2006年 / 6230卷

关键词：

legged robot; legged locomotion; field robotics;

D O I：

10.1117/12.684087

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

BigDog's goal is to be the world's most advanced quadruped robot for outdoor applications. BigDog is aimed at the mission of a mechanical mule - a category with few competitors to date: power autonomous quadrupeds capable of carrying significant payloads, operating outdoors, with static and dynamic mobility, and fully integrated sensing. BigDdog is about I m tall, I m long and 0.3 m wide, and weighs about 90 kg. BigDog has demonstrated walking and trotting gaits, as well as standing up and sitting down. Since its creation in the fall of 2004, BigDog has logged tens of hours of walking, climbing and running time. It has walked up and down 25 & 35 degree inclines and trotted at speeds up to 1.8 m/s. BigDog has walked at 0.7 m/s over loose rock beds and carried over 50 kg of payload. We are currently working to expand BigDog's rough terrain mobility through the creation of robust locomotion strategies and terrain sensing capabilities.

引用

页数：6