The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Abstract
Mini Cheetah is a small and inexpensive, yet powerful and mechanically robust quadruped robot, intended to enable rapid development of control systems for legged robots. The robot uses custom backdriveable modular actuators, which enable high-bandwidth force control, high force density, and robustness to impacts. Standing around 0.3 m tall and weighing 9 kg, Mini Cheetah can easily be handled by a single operator. We have demonstrated dynamic trot, trot-run, bounding, and pronking gaits on the robot to speeds of up to 2.45 meters per second using Convex Model-Predictive Control (cMPC). In addition to locomotion, we have used the robot to execute 360° backflips, with trajectories generated using offline nonlinear optimization.
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Citations
Cites
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969 · cited 2×
“A similar approach was used in the quadruped ANYmal, with the series-elastic ANYdrive actuator [6].”
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Cited by
Scientific exploration of challenging planetary analog environments with a team of legged robots
Arm, P., Waibel, G., Preisig, J., Tuna, T., Zhou, R., Bickel, V., Ligeza, G., Miki, T., Kehl, F., Kolvenbach, H., et al. (2023) · Science Robotics · doi:10.1126/scirobotics.ade9548 · Cited by 124
Afsar, O. K., Pupillo, G., Vitucci, G., Babatain, W., Ishii, H., & Cacucciolo, V. (2026) · Science Robotics · doi:10.1126/scirobotics.ady6438 · Cited by 12
Metadata
- Authors
- Katz, B., Carlo, J. D., & Kim, S.
- Venue
- 2019 International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2019-05
- Pages
- 6295-6301
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2968213087
- Cited by
- 544
- References
- 1
- FWCI
- 107.48
- Type
- conference paper
- Language
- en
- Open access
- closed
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