Quadruped Bounding Control with Variable Duty Cycle via Vertical Impulse Scaling
This paper introduces a bounding gait control algorithm that allows a successful implementation of duty cycle modulation in the MIT Cheetah 2. Instead of controlling leg stiffness to emulate a ‘springy leg’ inspired from the Spring-Loaded-Inverted-Pendulum (SLIP) model, the algorithm prescribes vert...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2014
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| Online Access: | http://hdl.handle.net/1721.1/90290 https://orcid.org/0000-0002-0172-0339 https://orcid.org/0000-0002-0218-6801 |