MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

Abstract

This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control strategies for dynamic locomotion and features high-bandwidth proprioceptive actuators to manage physical interaction with the environment. A new leg design is presented that includes proprioceptive actuation on the abduction/adduction degrees of freedom in addition to an expanded range of motion on the hips and knees. To make full use of these new capabilities, general balance and locomotion controllers for Cheetah 3 are presented. These controllers are embedded into a modular control architecture that allows the robot to handle unexpected terrain disturbances through reactive gait modification and without the need for external sensors or prior environment knowledge. The efficiency of the robot is demonstrated by a low Cost of Transport (CoT) over multiple gaits at moderate speeds, with the lowest CoT of 0.45 found during trotting. Experiments showcase the ability to blindly climb up stairs as a result of the full system integration. These results collectively represent a promising step toward a platform capable of generalized dynamic legged locomotion.