2015
Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3D Running of MIT Cheetah 2
ICRA 2015poster
This paper introduces a bounding gait control algorithm that allows a variable-speed running in the MIT Cheetah 2. A simple impulse planning algorithm is proposed to design vertical and horizontal force profiles which make net impulse on the system during one cycle zero. This design of force profile…