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This paper introduces a leg design method aiming at speed maximization for quadruped robots with two-segment compliant legs, in trotting and bounding. The proposed method is an effort to address the leg design challenge in a holistic way, exploiting the coupling between gait parameters, leg design parameters and hardware constraints, while remaining control scheme independent. Optimal body trajectories...
This paper studies the effect of a flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with translational spinal joint and springy legs is introduced. Numerical return map studies reveal the existence of a confined area of fixed points generating high-speed cyclic bounding motions by exploiting the natural dynamics of the model. The corresponding...
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