Rotary gallop in the untethered quadrupedal robot scout II

This paper discusses recent galloping results obtained using the Scout II quadrupedal robot, an underactuated robot with minimal sensing. The rotary variation of the gallop has been implemented, resulting in a motion which demonstrates both emergent stability and a circular trajectory, as predicted...

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Bibliographische Detailangaben
Hauptverfasser:	Smith, J.A., Poulakakis, I.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Applied sciences Biological system modeling Biological systems Computer science control theory systems Control theory. Systems Exact sciences and technology Intelligent robots Leg Legged locomotion Motion control Predictive models Robot sensing systems Robotics Shape Stability
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