Quadruped Robot Running With a Bounding Gait

  • S. Talebi
  • I. Poulakakis
  • E. Papadopoulos
  • M. Buehler
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


Scout II, an autonomous four-legged robot with only one actuator per compliant leg is described. We demonstrate the need to model the actuators and the power source of the robot system carefully in order to obtain experimentally valid models for simulation and analysis. We describe a new, simple running controller that requires minimal task level feedback, yet achieves reliable and fast running up to 1.2 m/s. These results contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. An energetics analysis reveals a highly efficient system with a specific resistance of 0.32 when based on mechanical power dissipation and of 1.0 when based on total electrical power dissipation.


Mobile Robot Neural Oscillator Battery Voltage Quadruped Robot Hexapod Robot 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • S. Talebi
    • 1
  • I. Poulakakis
    • 1
  • E. Papadopoulos
    • 2
  • M. Buehler
    • 1
  1. 1.Ambulatory Robotics Laboratory, Centre for Intelligent MachinesMcGill UniversityMontrealCanada
  2. 2.Department of Mechanical EngineeringNTU AthensGreece

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