This paper introduces a bounding gait control algorithm that allows a variable-speed
running in the MIT Cheetah 2. A simple impulse planning algorithm is proposed to design …

This paper introduces a bounding gait control algorithm that allows a successful
implementation of duty cycle modulation in the MIT Cheetah 2. Instead of controlling leg …

This paper presents a reference generation technique for bounding quadruped locomotion.
Synthesis of the reference is carried out by forming contact forces. Contact forces are …

In this paper, the implications of torso flexibility on the dynamics of quadrupedal running are
examined in a template setting. In the same vein with the spring loaded inverted pendulum …

In this work we research the role of body dynamics in the complexity of kinematic patterns in
a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot …

Several legged robots have been developed in recent years and proved that they are an
effective transportation system on an uneven terrain. In particular, quadruped robots are …

Feline locomotion combines great acrobatic proficiency, unparalleled balance and higher
accelerations than other animals. Capable of accelerating from 0 to 100 km h-1 in three …

There has been a rising interest in compliant legged locomotion to improve the adaptability
and energy efficiency of robots. However, few approaches can be generalized to soft ground …

Legged robots are regarded as a new means for transportation at uneven terrains and
dangerous situations. In particular, quadruped robots that are capable of high-speed …

Quadruped robots are receiving great attention as a new means of transportation for various
purposes, such as military, welfare, and rehabilitation systems. The use of four legs enables …