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STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION
Abstract
This paper introduces StarlETH, a compliant quadrupedal robot that is designed to study fast, efficient, and versatile locomotion.The platform is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the same time well suited for highly dynamic maneuvers.We additionally emphasize key elements of a powerful real time control and simulation environment.The work is concluded with a number of experiments that demonstrate the performance of the presented hardware and controllers.
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Cited by
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
Self-citationA Machine Learning Approach to Visual Perception of Forest Trails for Mobile Robots
Giusti, A., Guzzi, J., Ciresan, D. C., He, F.-L., Rodriguez, J. P., Fontana, F., Faessler, M., Forster, C., Schmidhuber, J., Caro, G. D., et al. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2015.2509024 · Cited by 665
Kinect v2 for mobile robot navigation: Evaluation and modeling
Fankhauser, P., Bloesch, M., Rodriguez, D., Kaestner, R., Hutter, M., & Siegwart, R. (2015) · 2015 International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar.2015.7251485 · Cited by 314
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Metadata
- Authors
- HUTTER, M., GEHRING, C., BLOESCH, M., HOEPFLINGER, M. A., REMY, C. D., & SIEGWART, R.
- Venue
- Adaptive Mobile Robotics
- Publisher
- WORLD SCIENTIFIC
- Published
- 2012-07-18
- Pages
- 483-490
- OpenAlex
- W4250087872
- Cited by
- 241
- References
- 0
- FWCI
- 46.20
- Type
- book chapter
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION. https://app.cochat.ai/papers/10.1142/9789814415958_0062
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- HUTTER, M., GEHRING, C., BLOESCH, M., HOEPFLINGER, M. A., REMY, C. D., & SIEGWART, R. (2012). STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION. Adaptive Mobile Robotics. https://doi.org/10.1142/9789814415958_0062
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
