Empirical validation of a spined sagittal-plane quadrupedal model
General Robotics, Automation, Sensing and Perception Laboratory
Controls and Control Theory
Electrical and Computer Engineering
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.