We have constructed an autonomous quadruped, Scout II, which features only a hip actuator and a passive compliant prismatic joint per leg. In this paper we demonstrate in simulation the control of stable running via two control strategies. One of them is verified experimentally on Scout II at a running speed near 1.2 m/s. The simulation model is verified experimentally.
['Didier Papadopoulos', 'Martin Buehler']
Stable running in a quadruped robot with compliant legs