Boston Dynamics "Big Dog"

BigDog is funded by (DARPA) in the hopes that it will be able to serve as a robotic mule. to accompany soldiers in terrain too rough for conventional vehicles. Instead of wheels or treads, BigDog uses four legs for movement, allowing it to move across surfaces that would defeat wheels. The legs contain a variety of sensors, including joint position and ground contact.Approximately 50 sensors are located on BigDog. These measure the attitude and acceleration of the body, motion and force of joint actuators as well as engine speed, temperature and hydraulic pressure inside the robot’s internal engine. Low-level control, such as position and force of the joints, and high-level control such as velocity and altitude during locomotion, are both controlled through the onboard computer.