On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations
The MIT Cheetah demonstrated a stable 6 m/s trot gait in the sagittal plane utilizing the self-stable characteristics of locomotion. This paper presents a numerical analysis of the behavior of a quadruped robot model with the proposed controller. We first demonstrate the existence of periodic trot g...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Online Access: | http://hdl.handle.net/1721.1/98282 https://orcid.org/0000-0002-0218-6801 https://orcid.org/0000-0001-5366-2145 |