High-speed bounding with the MIT Cheetah 2: Control design and experiments
This paper presents the design and implementation of a bounding controller for the MIT Cheetah 2 and its experimental results. The paper introduces the architecture of the controller along with the functional roles of its subcomponents. The application of impulse scaling provides feedforward force p...
| Main Authors: | , , |
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| Format: | Article |
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SAGE Publications
2018
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| Online Access: | http://hdl.handle.net/1721.1/119686 https://orcid.org/0000-0002-9041-5175 https://orcid.org/0000-0002-0218-6801 |