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: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2015-09-01T14:05:26Z.
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| Subjects: | |
| Online Access: | Get fulltext |