Haoming Rong

Enhancing the Flexibility of a Quadruped Robot with a 2-DOF Active Spine Using Nonlinear Model Predictive Control

For quadrupeds, a flexible spine allows them to traverse space and make quick turns. From the perspective of mechanical design in quadruped robots, an active spine with 2 degrees of freedom (2-DOF) can achieve dynamic posture adjustment similar to biological organisms which allows for pitch and yaw