Hardware

We got a finalized robot up and running! The Pupper is capable of standing, walking, tilting and rolling, and can be controlled by a keyboard. To see more, check out these awesome demo videos!


Simulator

The Pupper originally had three gaits: Stand, Trot (walk), and Hop (at the same spot). We designed a new jump gait that allows the robot to jump forward. A key application to this new gait is its strength of bypassing obstacles compare to a walking gait.

Full Motion of A Jump Gait
Walking Gait Unable to Pass the Burrier
Jump Gait Successfully Passed the Burrier

Check out these videos to see the full development process of this new gait!