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Walking Controllers for the SONY Robot Dog

We are developing integrated intelligent behaviors for a commercial entertainment robotic device - the SONY robot dog. The application domain is soccer playing and the results are demonstrated annually in the international RoboCup competition, where teams of robot dogs face off in soccer games. The focus of this particular locomotion sub-project is to develop advanced locomotion controllers for basic quadrupedal locomotion, robust mobility, error recovery, as well as soccer specific behaviors such as goal keeping, scoring, blocking, and kicking. An important aspect is the tight integration of the locomotion behaviors with perception and planning.

Tariq Gunheim, L. Mitrea, M. Buehler, J. Cooperstock, G. Dudek

Annual Report

Mon Jun 26 21:22:20 GMT 2000