BIG DOG

# BigDog is the alpha male of the Boston Dynamics robots. It is a rough-terrain robot that walks, runs, climbs and carries heavy loads. BigDog is powered by an engine that drives a hydraulic actuation system.
# BigDog has four legs that are articulated like an animal’s, with compliant elements to absorb shock and recycle energy from one step to the next. BigDog is the size of a large dog or small mule; about 3 feet long, 2.5 feet tall and weighs 240 lbs.
# BigDog's on-board computer controls locomotion, servos the legs and handles a variety of sensors. BigDog’s control system keeps it balanced, navigates, and regulates its energetics as conditions vary.
# Sensors for locomotion include joint position, joint force, ground contact, ground load, a gyroscope, LIDAR and a stereo vision system. Other sensors focus on the internal state of BigDog, monitoring the hydraulic pressure, oil temperature, engine functions, battery charge and others.
# In separate tests BigDog runs at 4 mph, climbs slopes up to 35 degrees, walks across rubble, climbs a muddy hiking trail, walks in snow and water, and carries a 340 lb load. BigDog set a world's record for legged vehicles by traveling 12.8 miles without stopping or refueling.
# The ultimate goal for BigDog is to develop a robot that can go anywhere people and animals can go. The program is funded by the Tactical Technology Office at DARPA.