Tso-Kang Wang

Model-based dynamic gait in a quadruped robot with waist actuation

We report on the development of a dynamic gait in a robot based on a sagittal-plane and reduced-order model that fits the natural dynamics of the robot. The proposed model, referred to as the two-rolling-legs model with waist actuation (TRLW), consists of two rolling and compliant legs and two rigid…