Departmental Papers (ESE)


Streaming Media


This paper introduces a new controller that stabilizes the motion of a spatial quadruped around sagittal-plane templates. It enables highly dynamic gaits and transitional maneuvers formed from parallel and sequential compositions of such planar templates in settings that require significant out-of-plane reactivity. The controller admits formal guarantees of stability with some modest assumptions. Experimental results validate the reliable execution of those planar template-based maneuvers, even in the face of large lateral, yaw, and roll incurring disturbances. This spatial anchor, fixed in parallel composition with a variety of different parallel and sequential compositions of sagittal plane templates, illustrates the robust portability of provably interoperable modular control components across a variety of hardware platforms and behaviors.

For more information: Kod*lab

Sponsor Acknowledgements

This work was supported by AFRL grant FA865015D1845 (subcontract 669737-1) and ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the second author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

2023 IEEE International Conference on Robotics and Automation

Copyright/Permission Statement

© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.


robotics, legged locomotion

Bib Tex

@INPROCEEDINGS{Greco_Koditschek_23, author = {Greco, Timothy and Koditschek, Daniel E}, title = {Anchoring Sagittal Plane Templates in a Spatial Quadruped}, year={2023}, booktitle={IEEE International Conference on Robotics and Automation} }



Date Posted: 24 February 2023

This document has been peer reviewed.