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22 May 2015 Toward agile control of a flexible-spine model for quadruped bounding
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Legged systems should exploit non-steady gaits both for improved recovery from unexpected perturbations and also to enlarge the set of reachable states toward negotiating a range of known upcoming terrain obstacles. We present a 4-link planar, bounding, quadruped model with compliance in its legs and spine and describe design of an intuitive and effective low-level gait controller. We extend our previous work on meshing hybrid dynamic systems and demonstrate that our control strategy results in stable gaits with meshable, low-dimension step- to-step variability. This meshability is a first step toward enabling switching control, to increase stability after perturbations compared with any single gait control, and we describe how this framework can also be used to find the set of n-step reachable states. Finally, we propose new guidelines for quantifying "agility" for legged robots, providing a preliminary framework for quantifying and improving performance of legged systems.
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Katie Byl, Brian Satzinger, Tom Strizic, Pat Terry, and Jason Pusey "Toward agile control of a flexible-spine model for quadruped bounding", Proc. SPIE 9468, Unmanned Systems Technology XVII, 94680C (22 May 2015);

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