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Laelaps I

1. Quadruped leg design principles for handling slopes or high-speed running

2. Legged Robot Control Using Passive Dynamics and Active Compliance

3. On the Effects of Design Parameters on Quadruped Robot Gaits

4. Quadruped Robot Roll & Pitch Estimation using an Unscented Kalman Filter

5. On Passive Quadrupedal Bounding with Translational Spinal Joint

6. On the Control of Quadrupedal Bounding with a Flexible Torso and a Tail

7. Quadruped Pronking on Compliant Terrains Using a Reaction Wheel

8. On Quadruped Attitude Dynamics and Control Using Reaction Wheels and Tails

9. On Attitude Dynamics and Control of Legged Robots Using Tail-Like Systems

10. Control of Quadrupedal Bounding with Flexible Torso and Speed Transitions with Sums of Squares Verification