Stable Running in a Quadruped Robot with Compliant Legs

We have constructed an autonomous quadruped, Scout II, which features only a hip actuator and a passive compliant prismatic joint per leg. In this paper we demonstrate in simulation the control of stable running via two control strategies. One of them is verified

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Didier Papadopoulos, Martin Buehler
• Keywords: Compliant Prismatic Joint, Hip Actuator, ICRA 2000, Robotics, Scout II