MIT Cheetah 2

I developed control algorithm and embedded software & hardware for MIT Cheetah 2. Detailed description about the algorithm will be presented in the following papers.

Variable-speed Quadrupedal Bounding Using Impulse Planning: Untethered High-speed 3D Running of MIT Cheetah 2, Hae-Won Park, Sangin Park, Sangbae Kim, ICRA 2015

Quadruped Bounding Control with Variable Duty Cycle via Vertical Impulse Scaling, Hae-Won Park, Meng Yee Chuah, Sangbae Kim, IROS 2014

Bipedal Locomotion on Rough Terrain

Detailed description can be downloaded here.

Fish Robot

Detailed description can be downloaded here.

Snake Robot

Detailed description can be downloaded here.

Design of a Tracked Vehicle with Passive Mechanisms

Detailed description can be downloaded here.