A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting

With the emergence of more and more torque-controlled robots, the agility of leg locomotion has been promoted to a new level, which, however, seems also to imply that only torque-controlled robots are appropriate for leg locomotion. This paper demonstrates that a position-control-based robot could also achieve dynamically stable and robust locomotion. With the help of offline dynamic-model-based t...