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Dynamic Locomotion: Gait Generation for Underactuated Hybrid Systems


Parkour is a form of dynamic locomotion that exploits body dynamics and reaction forces from the environment to efficiently access places that are otherwise difficult to reach.  Inspired by the flexibility of parkour, Carnegie Mellon University, in collaboration with Northwestern University, developed the ParkourBot, a dynamic climbing robot equipped with two springy BowLegs.

Potential energy is stored in the legs during flight and is quickly converted to kinetic energy at impact.  By controlling the leg angles and injected energy, our eventual goal is to control the ParkourBot to reliably move through a complex environment of footholds.  We have been successful in our first step to control the ParkourBot to dynamically climb in a chute on an inclined air table with reduced gravity.

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