Design and control of a recovery system for legged robots

@article{Green2016DesignAC,
  title={Design and control of a recovery system for legged robots},
  author={Kevin R. Green and Nils Smit-Anseeuw and Rodney Gleason and C. David Remy},
  journal={2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)},
  year={2016},
  pages={958-963}
}
This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a fully transparent mode where no forces are applied to the robot. In this mode, the system follows the robot closely to be able to quickly catch the robot if needed. Second, it can provide a vertical supportive force to assist a robot during operation. Third, it can catch the robot and pull it away from the ground after… 
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