MARLO: Walking over Unknown Terrain using Nonholonomic Virtual Constraints

MARLO is one of three ATRIAS 2.1 robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University. Unlike most other 3D walking robots, MARLO does not have large feet with powered ankles. This forces the robot to balance dynamically, but may lead to more natural and efficient walking. The walking controller is designed using nonholonomic virtual constraints (~grizzle/papers/) and a walking gait opt