Departmental Papers (ESE)



We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot’s “body energy” during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid’s initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



BibTeX entry

@article{canid_spie_2013, author = {Pusey, Jason L. and Duperret, Jeffrey M. and Haynes, G. Clark and Knopf, Ryan and Koditschek , Daniel E.}, title = {Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped}, pages = {87410W-87410W-15}, year = {2013}, doi = {10.1117/12.2016073} }

This work is supported by the National Science Foundation Graduate Research
Fellowship under Grant Number DGE-0822, and by the Army Research
Laboratory under Cooperative Agreement Number W911NF-10–2−0016.

Copyright 2013 Society of Photo-Optical Instrumentation Engineers. Postprint version.

This paper was (will be) published in Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology XV (8741), and is made available as an electronic reprint with permission of SPIE.
One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.



Date Posted: 19 February 2014

This document has been peer reviewed.