A trunk-rotation-aware spring template model plus quaternion-based planning and control lets a compliant quadruped jump farther and handle rougher terrain than the same robot without springs.
In: 2019 18th European control conference (ECC)
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Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
A trunk-rotation-aware spring template model plus quaternion-based planning and control lets a compliant quadruped jump farther and handle rougher terrain than the same robot without springs.