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StarlETH 3D trotting on treadmill with obstacles

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Published on Aug 24, 2012

Trotting experiments with StarlETH on a treadmill with up to 0.7m/s (2.5km/h) over small obstacles. This quadrupedal robot (24kg, 0.2m segment lenght) is driven by 12 series elastic torque actuators and works with onboard state estimation. An external motion capture system is used to continuously adapt the the treadmill velocity.

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