Experimentally validated bounding models for the Scout II quadrupedal robot

In this paper the authors discuss control and modeling issues significant for constructing simple running controllers and building experimentally validated simulation models for dynamically stable robots. A bounding controller resulting in dynamically stable running up to 1.3 m/s for the Scout II quadruped is presented. Simulation models are built and compared with experimental data to test the viability of various simplifying assumptions common in the literature for running robots. The authors demonstrate the need for including motor saturation and nor rigid torque transmission characteristics into simulation models. Similar issues are likely to be important in other legged robots as well. An extensive suite of experimental results documents the robot's performance and validates simulation models.