Lecture on 'Histroy of Walking Robots'

The lecture focuses on a detailed analysis of some methods to understand the legged robots, the need for a faster generation of walking gaits, more dynamic behaviours, more robustness, and tools used to bring these kinds of robots to the next level. The concepts of collocation based trajectory optimisation for fast generation of walking trajectories, Model Predictive Control for real-time tracking, and reinforcement learning techniques for realising emergent behaviours. A demonstrated on multiple robotic platforms, including a custom-built quadruped robot called Stoch 3.