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Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot

2017 IEEE International Conference on Robotics and Automation, 2017 (accepted)

T. Turner Topping, Gavin Kenneally and D. E. Koditschek
Electrical and Systems Engineering, University of Pennsylvania
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Abstract
       This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines from the recent robotics literature are mismatched in this sense to the common human scale environment, we present empirical work-arounds for the Minitaur quadrupedal platform that enable it to leap up, force the door handle and push through the door, as well as bound up the stairs, thereby accomplishing through dynamical maneuvers otherwise (i.e., quasi-statically) unachievable tasks.
BibTeX entry
@InProceedings{ttopping_ICRA2017,
  Title                    = {Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot},
  Author                   = {T. Turner Topping, Gavin Kenneally and Daniel E. Koditschek},
  Booktitle                = {Robotics and Automation, 2017 IEEE International Conference on},
  Year                     = {2017(accepted)}
}

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