Demonstration of a control framework capable of generating dynamic quadrupedal gaits, employing bioinspired bean-shaped trajectories at the toes, and active compliance control at the actuated joints.
Laelaps I quadruped robot simulation.
The quadruped robot Laelaps trotting at 3 m/s using longer legs.
- Machairas, K., and Papadopoulos, E., “An Analytical Study on Trotting at Constant Velocity and Height,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘18), Madrid, Spain, October 1-5, 2018.
- Dallas, S., Machairas, K., Koutsoukis, K., Papadopoulos, E., “A Leg Design Method for High Speed Quadrupedal Locomotion,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘17), Vancouver, BC, Canada, September 24–28, 2017.
- Machairas, K. and Papadopoulos, E., “An Active Compliance Controller for Quadruped Trotting,” 24th Mediterranean Conference on Control and Automation (MED ‘16), June 21-24, 2016, Athens, Greece.