Darren P. Krasny

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Over the past several decades, there has been a considerable interest in investigating high-speed dynamic gaits for legged robots. While much research has been published, both in the biomechanics and engineering fields regarding the analysis of these gaits, no single study has adequately characterized the dynamics of high-speed running as can be achieved in(More)
Dynamic maneuvers are an important part of legged locomotion used to adapt to varying terrain conditions. Quadrupedal dynamic maneuvers have received little attention in the literature due to limitations of traditional analytical approaches. In this study we look at several dynamic maneuvers in a 3D galloping quadruped robot using a multi-objective(More)
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