GOAT: An Agile Omni-directional Jumping Robot

The Robotics Institute, Carnegie Mellon University


Design Principles for 3D Agility and Virtual Compliance

Creator of the GOAT leg (gearless, omni-directional, acceleration-vectoring topology), a highly dynamic omni-directional jumping and running robot designed for unparalleled 3D agility.

GOAT is a novel 3-DoF, 3-RSR, parallel leg topology which uses custom direct-drive (or quasi-direct-drive) actuators and proprioceptive force sensing to achieve high fidelity virtual compliance.

  • GOAT is featured on IEEE Spectrum, The Verge, Digital Trends, Tech Crunch, The Next Web, Discovery Channel, Wevolver, and more.
  • Technical Lead/Author on DARPA Robotics Fast Track (RFT) grant proposal for 150k.

  • Masters Thesis: Design for 3D Agility and Virtual Compliance using Proprioceptive Force Control in Dynamic Legged Robots
    IROS 2017 Conference Paper: GOAT: A Legged Robot with 3D Agility and Virtual Compliance