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This paper proposes an optimal galloping trajectory, which costs low energy and guarantees the stability of the quadruped robot. In the realization of fast galloping, the trajectory design is important. For a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of...
This paper proposes an optimal galloping trajectory, which costs low energy and guarantees the stability of the quadruped robot. In the realization of fast galloping, the trajectory design is important. As a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of...
Despite the fact that a running legged robot can be simply modeled by a spring loaded inverted pendulum and that the trajectory of its center of gravity is approximated as a ball on the rebound, the motions of its swinging leg and supporting leg are very important to run stably. In many previous works, trajectories of legs could easily deviate from their workspace of legs and thus make the robots...
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