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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Stefan Twieg

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Open access Jul 2026

Practical Integration of Open-Source Control Architectures on Custom Quadruped Robots: Simulation Validation and Hardware Interfacing

This paper documents the integration and validation process of Scotty, a custom quadrupedal robot, evaluating two distinct open-source control frameworks: the torque-based MIT Mini Cheetah and the position-based CHAMP architectures.

Vishnudev Kurumbaparambil, Subashkumar Rajanayagam, Stefan Twieg · 0 citations

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