{"id":283,"date":"2025-10-31T08:55:41","date_gmt":"2025-10-31T12:55:41","guid":{"rendered":"https:\/\/carleton.ca\/mechatronics\/?page_id=283"},"modified":"2025-10-31T10:08:42","modified_gmt":"2025-10-31T14:08:42","slug":"legged-robots","status":"publish","type":"page","link":"https:\/\/carleton.ca\/mechatronics\/legged-robots\/","title":{"rendered":"Legged Robots"},"content":{"rendered":"<h3><strong>Bio-inspired Legged Locomotion and Control <img decoding=\"async\" loading=\"lazy\" class=\"size-medium wp-image-319 alignright\" src=\"https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/cpdr-240x186.png\" alt=\"\" width=\"240\" height=\"186\" srcset=\"https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/cpdr-240x186.png 240w, https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/cpdr-400x310.png 400w, https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/cpdr-160x124.png 160w, https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/cpdr-360x279.png 360w, https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/cpdr.png 756w\" sizes=\"(max-width: 240px) 100vw, 240px\" \/><\/strong><\/h3>\n<p>The Controlled Passive Dynamic Running (CPDR) strategy is a pioneering method for robot locomotion. It was implemented on the ARL Monopod II, and has inspired research on dynamic locomotion to this day.<\/p>\n<p><\/p>\n<p><\/p>\n<p><\/p>\n<h3><strong>Reinforcement Learning for Robust Locomotion<\/strong><\/h3>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"size-medium wp-image-318 alignright\" src=\"https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/abl-b1-240x428.png\" alt=\"\" width=\"240\" height=\"428\" srcset=\"https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/abl-b1-240x428.png 240w, https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/abl-b1-160x285.png 160w, https:\/\/carleton.ca\/mechatronics\/wp-content\/uploads\/abl-b1.png 309w\" sizes=\"(max-width: 240px) 100vw, 240px\" \/><\/p>\n<p>The ABL-B1 is a 13 degree-of-freedom bipedal robot designed and built at ABL. We were an early adopter of Reinforcement Learning to achieve robust walking under disturbances and obstacles. The use of RL has exponentially grown and is now standard practice in robotic\/AI mobility and locomotion.<\/p>\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Bio-inspired Legged Locomotion and Control The Controlled Passive Dynamic Running (CPDR) strategy is a pioneering method for robot locomotion. It was implemented on the ARL Monopod II, and has inspired research on dynamic locomotion to this day. Reinforcement Learning for Robust Locomotion The ABL-B1 is a 13 degree-of-freedom bipedal robot designed and built at ABL. [&hellip;]<\/p>\n","protected":false},"author":17,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v21.2 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Legged Robots - Advanced Biomechatronics &amp; Locomotion Lab<\/title>\n<meta name=\"description\" content=\"Bio-inspired Legged Locomotion and Control The Controlled Passive Dynamic Running (CPDR) strategy is a pioneering method for robot locomotion. It was\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/carleton.ca\/mechatronics\/legged-robots\/\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"1 minute\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/carleton.ca\/mechatronics\/legged-robots\/\",\"url\":\"https:\/\/carleton.ca\/mechatronics\/legged-robots\/\",\"name\":\"Legged Robots - Advanced Biomechatronics &amp; Locomotion Lab\",\"isPartOf\":{\"@id\":\"https:\/\/carleton.ca\/mechatronics\/#website\"},\"datePublished\":\"2025-10-31T12:55:41+00:00\",\"dateModified\":\"2025-10-31T14:08:42+00:00\",\"description\":\"Bio-inspired Legged Locomotion and Control The Controlled Passive Dynamic Running (CPDR) strategy is a pioneering method for robot locomotion. 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