Greco, Timothy M

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  • Publication
    Anchoring Sagittal Plane Templates in a Spatial Quadruped
    (2023-02-24) Greco, Timothy M; Koditschek, Daniel E.
    This paper introduces a new controller that stabilizes the motion of a spatial quadruped around sagittal-plane templates. It enables highly dynamic gaits and transitional maneuvers formed from parallel and sequential compositions of such planar templates in settings that require significant out-of-plane reactivity. The controller admits formal guarantees of stability with some modest assumptions. Experimental results validate the reliable execution of those planar template-based maneuvers, even in the face of large lateral, yaw, and roll incurring disturbances. This spatial anchor, fixed in parallel composition with a variety of different parallel and sequential compositions of sagittal plane templates, illustrates the robust portability of provably interoperable modular control components across a variety of hardware platforms and behaviors. For more information: Kod*lab
  • Publication
    Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped
    (2023-02-24) Greco, Timothy M; Koditschek, Daniel E
    This technical report provides a more thorough treatment of the proofs and derivations in the authors' paper "Anchoring Sagittal Plane Templates in a Spatial Quadruped." The description of the anchoring controller is reproduced here without abridgement, and additional appendices provide a clearer account of the implementation details.