Thesis Movies
Complete playlist here.
Chapter 2: State of the art
Chapter 5: Sensory feedback
Stumbling correction reflex (SCR)
Chapter 7: Simulations
Ghostcat, rocky terrain, open-loop, 2, 3
Ghostcat, rocky terrain, closed-loop, 2
Ghostcat, uneven terrain, open-loop, +SCR
Ghostcat, uneven terrain, closed-loop, 2
Ghostcat, upwards slope, open-loop
Ghostcat, upwards slope, closed-loop, failure example
Ghostcat, pushes, open-loop, 2, 3
Ghostcat, pushes, closed-loop, 2, 3
Ghostcat, RPV correction, open-loop (ill-parametrized)
Ghostcat, RPV correction, closed-loop
Oncilla, uneven terrain, open-loop
Oncilla, uneven terrain, closed-loop, slow-motion
Oncilla, downwards step, open-loop
Oncilla, downwards step, closed-loop, slow-motion
Oncilla, downwards slope, open-loop
Oncilla, downwards slope, closed-loop, slow-motion
Oncilla, lateral stepping reflex
Oncilla, asymmetric load carriage (0.4 Kg), open-loop
Oncilla, asymmetric load carriage (0.4 Kg), closed-loop
Oncilla, freerun on difficult terrain
Oncilla, summary (IROS 2013)
Chapter 8: Hardware experiments
Oncilla, in-place turning, open-loop
Oncilla, walk to trot transition, open-loop
Oncilla, lateral stepping reflex, closed-loop
Oncilla, upwards slope, open-loop
Oncilla, upwards slope freerun, closed-loop
Oncilla, vertical obstacle, open-loop
Oncilla, vertical obstacle, closed-loop
Oncilla, uneven terrain, open-loop
Oncilla, uneven terrain, closed-loop
Oncilla, uneven terrain freerun, closed-loop
Chapter 9: Case study: sensory feedback delay