BigDog, the Rough-Terrain Quadruped Robot

TL;DR: Experimental results indicate that HBC systems can achieve similar position tracking with relatively less consumed energy than conventional hydraulic actuation systems.

TL;DR: In this paper , a quadruped robot with a prismatic leg driven by quasi-direct drives (QDDs) for the high-payload capacity during the dynamic locomotion is presented.

TL;DR: In this article, a planning and control strategy for the pacing gait of hydraulic quadruped robots based on the centroid was proposed, where the position and attitude of the robot trunk were adjusted by the presented controller.

TL;DR: Based on the quadruped robot, the authors mainly studied the two directions of the content, the first part mainly introduces the mechanical structure design and the construction of the control system of quadruped robots, the second part studies a few experiments had be made in this thesis such as the marking time experiment, the squat experiment, walking experiments, the trotting experiments.

TL;DR: It is found that each of the gaits that use the legs in pairs can be transformed into a common underlying gait, a virtual biped gait: a single set of control algorithms produce all three gaits, with modest parameter variations between them.

TL;DR: Measurements of running in the cat and human show that the feet and body sometimes move as predicted by the even and odd symmetry functions.

TL;DR: Different vehicle configurations as well as leg mechanisms which are already explored by researchers are reviewed and the author hopes that this will serve as a brief account of previous research efforts and help future walking robot designers to develop more sophisticated machines.