Jeffrey Duperret1, Daniel Koditschek1
11:35 - 11:40 | Tue 30 May | Room 4811/4812 | TUB9.2
We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robotÂ’s mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.