Eric W. McClain

2 accepted papers

2021

Stability and Control of a Pacing Quadruped Using Stabilizing Switching Design

Eric W. McClain, Ali Samare Filsoofi, Sanford G. Meek

RA-L 2021

In this paper we present a method for control and stabilizing a pacing quadruped robot using state feedback switching. In the pacing gait, a quadruped cycles between the left and right pairs of legs to achieve locomotion. This results in two discrete stance configurations, each being unstable. The q

Cited by 1 Source ↗Scholar ↗

2018

Determining Optimal Gait Parameters for a Statically Stable Walking Human Assistive Quadruped Robot

Eric W. McClain, Sanford Meek

IROS 2018poster

In this paper we propose a method to determine an optimal statically stable gait for a quadruped robot walking in the presence of an expected disturbance. There exists a tradeoff between a stable gait and an energy efficient gait. Our goal is to determine an energy efficient quadruped gait that will…

Cited by 8 Source ↗Scholar ↗