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
![example image](/assets/img/QuadMorph/bounding_turn3_twisting_ss_p5%2000_00_00-00_00_30.gif)
Trot
![example image](/assets/img/QuadMorph/trot4%2000_00_00-00_00_10.gif)
Parkour wall jump
![example image](/assets/img/QuadMorph/parkour9_p17_s3%2000_00_00-00_00_30.gif)
Parkour bound
![example image](/assets/img/QuadMorph/wall_run%2000_00_00-00_00_30.gif)