Research

The Dynamic Legged Systems lab focuses on research that concerns the design and control aspects of legged robots. We are interested in the design and development of legged robotic systems, chiefly quadrupeds, and we are investigating ways that can increase flexibility and performance of legged designs. Apart from developing quadrupedal robots we emphasize the need for accurate and robust control, ranging from the level of individual joints, often in hardware, up to the overall behavior of the legged robot. Apart from accurate hydraulic force/torque control at the joint level we are investigating ways of creating and using a variety of different locomotion gaits, that are robust to external disturbances and changing environmental conditions. A significant part of our groups' effort is devoted to perception tailored to dynamic quadrupedal robots. This becomes important as robots take their first steps outside controlled lab environments and into real-life applications.