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Control of Running in Quadruped Robots

In order to minimize cost and complexity of legged robots, we investigate the design and control of simple mechanical designs for quadruped robots which feature only one actuated degree of freedom per leg. This project explores modeling and control of a bounding gait for our Scout II quadruped robot.

Early results have shown that stable bounding is possible with minimal closed loop feedback, yet achieving stable running at speeds up to 1.2 m/s. Ongoing research pursues robust velocity control, gait transitions, turning, power minimization and teleoperation interfaces.

D. Papadopoulos, M. Buehler
 


Annual Report

Mon Jun 26 21:22:20 GMT 2000