Legged robots that balance
Efficient dynamic simulation of a quadruped using a decoupled tree-structured approach
International Journal of Robotics Research
Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
Super Mechano-System: New Perspective for Versatile Robotic System
ISER '00 Experimental Robotics VII
Quadruped Robot Running With a Bounding Gait
ISER '00 Experimental Robotics VII
Running in Three Dimensions: Analysis of a Point-mass Sprung-leg Model
International Journal of Robotics Research
On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait
International Journal of Robotics Research
Three-dimensional Translational Dynamics and Stability of Multi-legged Runners
International Journal of Robotics Research
iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running
International Journal of Robotics Research
Adaptive behavior in turning of an oscillator-driven biped robot
Autonomous Robots
The Epi.q-1 Hybrid Mobile Robot
International Journal of Robotics Research
Bounding with Active Wheels and Liftoff Angle Velocity Adjustment
International Journal of Robotics Research
Gait planning based on kinematics for a quadruped gecko model with redundancy
Robotics and Autonomous Systems
The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion
International Journal of Robotics Research
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Computer simulation and dynamic modeling of a quadrupedal pronking gait robot with SLIP model
Computers and Electrical Engineering
Kinematic and dynamic analysis of a hexapod walking-running-bounding gaits robot and control actions
Computers and Electrical Engineering
Development and field testing of the FootFall planning system for the ATHLETE robots
Journal of Field Robotics
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In this paper we compare models and experiments involving Scout II, an untethered four-legged running robot with only one actuator per compliant leg. Scout II achieves dynamically stable running of up to 1.3 m s-1 on flat ground via a bounding gait. Energetics analysis reveals a highly efficient system with a specific resistance of only 1.4. The running controller requires no task-level or body-state feedback, and relies on the passive dynamics of the mechanical system. These results contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. We discuss general modeling issues for dynamically stable legged robots. Two simulation models are compared with experimental data to test the validity of common simplifying assumptions. The need for including motor saturation and non-rigid torque transmission characteristics in simulation models is demonstrated. Similar issues are likely to be important in other dynamically stable legged robots as well. An extensive suite of experimental results documents the robot's performance and the validity of the proposed models.