Hello. I’ve been looking through the open_robot_actuator_hardware repository, and I was wondering if it is possible for a quadruped with 2dof legs (such as the Quadruped 8dof v2) is capable of turning or strafing, and if so, how?
I don’t have experience with this specific robot, but generally speaking it may be possible, by taking shorter strides with the legs on the inside of the turn. Somewhat similar to how tracked vehicles (like tanks) turn.
It would be nice to see a video somewhere of the Solo8 actually turning. Anyone have a link to that?
Hello,
good question - we haven’t tried it.
Since the 2dof legs have no degree of freedom that would allow them to move sideways any change in the yaw or roll angle of the body will create internal forces on the robot frame.
The legs do have some lateral elasticity so it might be possible to incrementally rotate the body and perform a slow turn while walking.
It might also be possible to continuously jump and rotate the body a bit during each take-off.
Walking sideways doesn’t seem feasible to me.