A quadruped robot with a three-degree-of-freedom active spine reaches 6.9 m/s top speed and 7.2 rad/s turning rate via an RL framework that rewards spine engagement and gallop gaits.
A robust quadruped robot with twisting waist for flexible motions,
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S-Cheetah: A Novel Quadrupedal Robot with a 3-DOF Active Spine Learning Agile Locomotion
A quadruped robot with a three-degree-of-freedom active spine reaches 6.9 m/s top speed and 7.2 rad/s turning rate via an RL framework that rewards spine engagement and gallop gaits.