— Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g. surface) changes. In this paper we examine the relationship betwee...
— In this work a novel control method is presented for controlling the forward speed and apex height of a special class of running quadruped robot, with a dimensionless inertia o...
— Trotting and galloping allow a quadruped to rapidly traverse rough terrain. Modeling this motion, which is only dynamically stable, is of importance for legged robot operation ...
— In this paper a novel multipart control is developed for a trotting quadruped robot. The control is designed to drive the quadruped to a steady-state motion with desired forwar...
— Passive dynamics plays an important role in legged locomotion of the biological systems. The use of passive dynamics is expected for energy efficiency, self-stabilization agai...