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Control of Compliant Walking in Quadruped Robots

Based on earlier encouraging results with stiff-legged walking with the Scout I quadruped robot, we are now investigating controllers for compliant walking in the larger Scout II robot. Simple loss-less models are used as a basis for developing explicit periodic forcing controllers, which excite the body pitching dynamics for a compliant bounding-type walk. This approach is compared with others based on neural oscillators and central pattern generators.

M. de Lasa, M. Buehler
 


Annual Report

Mon Jun 26 21:22:20 GMT 2000