Stable open loop walking in quadruped robots with stick legs

In our previous work (1998) we have shown that walking can be implemented on quadrupeds with stiff legs and only one actuated degree of freedom in the hip, based on the concept of controlled momentum transfer. In this paper we show via simulations and experiments on two different quadruped robots that dynamically stable and robust walking can be achieved via an open loop controller which is active only during the back leg support phase.

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