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We present a software architecture that makes use of both static and dynamic gaits, as well as specialized dynamic maneuvers, to accomplish this task. Throughout the paper we highlight two themes that have been central to our approach: (1) the prevalent use of learning algorithms, and (2) a focus on rapid recovery and replanning techniques; we present several novel methods and algorithms that we developed for the quadruped and that illustrate these two themes. We evaluate the performance of these different methods, and also present and discuss the performance of our system on the official Learning Locomotion tests.<\/jats:p>","DOI":"10.1177\/0278364910390537","type":"journal-article","created":{"date-parts":[[2011,1,25]],"date-time":"2011-01-25T05:53:25Z","timestamp":1295934805000},"page":"150-174","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":77,"title":["The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion"],"prefix":"10.1177","volume":"30","author":[{"given":"J.","family":"Zico Kolter","sequence":"first","affiliation":[{"name":"MIT, Computer Science, Cambridge, MA, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrew Y","family":"Ng","sequence":"additional","affiliation":[{"name":"Stanford University, Computer Science, Stanford, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2011,1,25]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the International Conference on Machine Learning","author":"Abbeel P."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066475"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.2514\/2.4231"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-008-9099-2"},{"key":"atypb6","volume-title":"Proceedings of the 11th International Symposium on Experimental Robotics","author":"Byl K."},{"key":"atypb7","volume-title":"Proceedings of the IEEE Conference on Control Theory and Applications","author":"Cao B."},{"key":"atypb8","volume-title":"Proceedings of the International Conference on Humanoid Robotics","author":"Chestnutt J."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022003004"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1126\/science.3975635"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(81)90047-1"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45603-1_45"},{"key":"atypb13","first-page":"253","volume":"1","author":"Hirose S.","year":"1984","journal-title":"International Journal of Robotics Research"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839222"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.909786"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907078089"},{"key":"atypb17","volume-title":"The Nineteenth Conference on Artificial Intelligence","author":"Kohl N."},{"key":"atypb18","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Kolter JZ"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.027"},{"key":"atypb20","volume-title":"Proceedings of the International Conference on Robotics and Automation (to appear)","author":"Kolter JZ"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1016\/0094-5765(94)00078-Z"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103181"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1177\/003754976700900308"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(68)90007-2"},{"key":"atypb25","unstructured":"McGhee RB ( 1985) Vehicular legged locomotion. 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