Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot

International Journal of Robotics Research

Volumn 32, Issue 8, 2013, Pages 932-950

  Spröwitz, Alexander ^a   Tuleu, Alexandre ^a   Vespignani, Massimo ^a   Ajallooeian, Mostafa ^a   Badri, Emilie ^a   Ijspeert, Auke Jan ^a  

^a EPFL   (Switzerland)

Author keywords

coupled oscillator; drive function; pantograph; passive compliance; robotic leg design; robust locomotion; self stabilizing quadruped locomotion; three segment

Indexed keywords

COUPLED OSCILLATORS; LEG DESIGN; PASSIVE COMPLIANCE; QUADRUPED LOCOMOTION; THREE-SEGMENT;

BIPED LOCOMOTION; ELASTICITY; EXPERIMENTS; FROUDE NUMBER; MULTIPURPOSE ROBOTS; PANTOGRAPHS;

MACHINE DESIGN;

EID: 84880317788     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364913489205     Document Type: Article

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