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Implementation of a Quadruped Robot Pronking/Bounding Gait Using a Multipart Controller

[+] Author Affiliations
Alexandros Nikolakakis, Ioannis Kontolatis, Nicholas Cherouvim, Panagiotis Chatzakos, Evangelos Papadopoulos

National Technical University of Athens, Athens, Greece

Paper No. DSCC2010-4215, pp. 149-156; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


This paper presents a multipart pronking/bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and high-speed camera captions show that the implemented quadruped robot performs pronking gaits and achieves bounding gaits with the desired characteristics.

Copyright © 2010 by ASME



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