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- W4383108775 abstract "This paper introduces a new controller that stabilizes the motion of a spatial quadruped around sagittal-plane templates. It enables highly dynamic gaits and transitional maneuvers formed from parallel and sequential compositions of such planar templates in settings that require significant out-of-plane reactivity. The controller admits formal guarantees of stability with some modest assumptions. Experimental results validate the reliable execution of those planar template-based maneuvers, even in the face of large lateral, yaw, and roll incurring disturbances. This spatial anchor, fixed in parallel composition with a variety of different parallel and sequential compositions of sagittal plane templates, illustrates the robust portability of provably interoperable modular control components across a variety of hardware platforms and behaviors." @default.
- W4383108775 created "2023-07-05" @default.
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- W4383108775 date "2023-05-29" @default.
- W4383108775 modified "2023-10-16" @default.
- W4383108775 title "Anchoring Sagittal Plane Templates in a Spatial Quadruped" @default.
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- W4383108775 doi "https://doi.org/10.1109/icra48891.2023.10161488" @default.
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