Departmental Papers (ESE)

Streaming Media


We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.

Sponsor Acknowledgements

This work was supported in part by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822 held by the first author and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering held by the second author. We thank Benjamin Kramer and Benjamin Bernstein for their support in maintaining and improving the Inu platform.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

IEEE International Conference on Robotics and Automation

Bib Tex

@inproceedings{paper:duperret-icra-2017, author={Duperret,J. and Koditschek,D. E.}, year={2017}, title={Empirical validation of a spined sagittal-plane quadrupedal model}, booktitle={Proceedings - IEEE International Conference on Robotics and Automation}, pages={1058-1064}}



Date Posted: 20 July 2017

This document has been peer reviewed.