Fast Parametric Transitions for Smooth Quadrupedal Motion

This paper describes a motion system for a quadruped robot that performs smooth transitions over requested body trajectories. It extends the generality of path based approaches by introducing geometric primitives that guarantee smoothness while decreasing (and in some cases entirely removing) constraints on when and what types of parameter transitions can be made. The overall motion system for the autonomous Sony legged robot that served as our test-bedis also described. This motion system served as a component in our entry in the RoboCup-2000 world robotic soccer championship, in which we placed third, losing only a single game.