Quadruped Morphology Design Study

Research Assistant @ Upenn

Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization

In this project, we developed a pipeline to generate trajectories for several steady-state and transitional behaviors, either in sagittal plane or 3D space, using large-scale nonlinear optimization. By analyzing the data, we investigated the effect of an axially twisting spinal joint for a quadrupedal robot. This work is accepted by ICRA 2023. Please check out the manuscript below


The optimization code is built on MIT DRAKE.

Some Cool Bevaviors (x0.25)

Bounding turn


Parkour wall jump

Parkour bound