On the energetics of quadrupedal bounding with and without torso compliance


This paper examines the influence of torso compliance on the efficiency of quadrupedal running with a bounding gait. Two sagittal-plane models, one with and one without torso compliance, are developed in a template setting. The models feature non-trivial leg mass, and are coupled with a simple leg recirculation controller to generate bounding motions… (More)
DOI: 10.1109/IROS.2014.6943259


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