A 9.2 kg quadruped robot on a balance rig, tracking a sliding optical target.
Theme
Fig 5FELIS-09 robotic catHover or ←/→ target · ↑/↓ crouch · Space pounceyaw +0.0° · crouch 0 mm · 3.2 N·m · IDLE
Move across the cat to steer its gaze, use the target and crouch buttons below, or tap Pounce. On a keyboard, click the figure first, then use the arrow keys and Space.
ControlsPresets
Optical lock: front collimator beacon, stereo ocular array, and peak knee torque80:1 harmonic-drive actuators, dorsal suspension coil, and 5-link counterbalance tailFour strain-gauge load pads (FL, FR, RL, RR) feeding the bench telemetry consoleA 9.2 kg quadruped robot (90.3 N static weight, ~22.6 N per foot at rest) standing on four strain-gauge load cells. Moving the optical collimator along the front rail commands up to ±26° of cervical gaze yaw; the five-segment 0.88 kg tail sweeps in opposition to cancel lateral center-of-mass drift. Crouching or pressing Space compresses the dorsal suspension up to 38 mm across the 80:1 harmonic-drive knee actuators, driving peak joint torque on the dial indicator and shifting ground reaction forces across the four console bar meters.