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Charlie: A self-righting behavior of the walking robot

The video shows a self-righting behavior of the four-legged walking robot Charlie, developed by the Robotics Innovation Center (RIC) of the DFKI. The behavior consists of two parts: 1. A transition from a supine lying pose to a prone lying pose and 2. subsequently the transition to a standing posture, where the 6DoF artificial spine of Charlie was key to reach the stable four-legged pose.The first transition has been optimized using state-of-the-art machine learning algorithms.

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last updated 23.05.2023