2018
Fore-Aft Leg Specialization Controller for a Dynamic Quadruped
Jason M. Brown, Charlie P. Carbiener, John Nicholson, Nicholas Hemenway, Jason L. Pusey, Jonathan E. Clark
ICRA 2018poster
Many running animals, unlike their robotic counterparts, have distinct morphologies and functional roles for their front and rear legs. In this paper we present a new control approach for a 5kg autonomous dynamic quadruped that explicitly encodes separate roles for each contralateral pair of legs. T…