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This paper illustrates the results of a validation procedure for the computer simulations of our quadruped robot HyQ. We show how simulated and real data recorded during locomotion tests are substantially consistent, providing an argument for the reliability of our simulation software. The main contribution of this work is to illustrate a basic yet effective software system that allows us to simulate – and also control in the real world – a complex articulated robot that can walk and run.

This paper presents the design of a quadrupedal robot that can automatically adapt its gait to, and climb, staircases of different configurations. This is accomplished by endowing the robot with a parameterized gait for stair climbing: First, a gait plan is synthesized that allows the robot to climb a stair of known dimensions. Second, the robot approaches a previously unseen stair and perceives its height and width by using an onboard vision system. Third, the synthesized gait plan is parameterized by the perceived estimates of height and width of the stair. Fourth, the robot executes the parameterized gait to climb the staircase; this thereby eliminates the need for a complex control system to achieve the same purpose. Whereas quadruped robots have previously demonstrated stair climbing, to the best of our knowledge, none have so far been capable of climbing stairs of variable height while simultaneously carrying all the needed perception, processing, and power modules on-board. Our work is one of the first successful attempts toward the above goal. Results with the robot climbing a variety of stair configurations demonstrate the effectiveness of our approach.