Adding an actuated sagittal spine to a simulated quadruped increases agility and allows it to clear higher obstacles, steeper slopes, and tighter passages than the rigid-spine baseline.
Motions of the running cheetah and horse
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Evaluation of an Actuated Spine in Agile Quadruped Locomotion
Adding an actuated sagittal spine to a simulated quadruped increases agility and allows it to clear higher obstacles, steeper slopes, and tighter passages than the rigid-spine baseline.