BigDog

描述

BigDog was Boston Dynamics' first legged robot to leave the laboratory - the machine that proved a dynamically balancing quadruped could work on real ground rather than a test floor. Built from 2004 with DARPA funding, it navigated rough terrain using an on-board sensor and control system, recovering its balance dynamically when it slipped or was shoved. It was powered by an internal combustion engine driving hydraulic actuators, which gave it the distinctive noise it became known for in the videos that introduced much of the public to legged robotics. BigDog established the approach behind everything that followed at Boston Dynamics, leading directly to the larger LS3 and, further on, to the company's current legged products. It is retired and documented in the company's legacy collection.

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