Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot

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Modular Hopping and Running via Parallel Composition (2017, unknown): “Researchers in robotics have numerically studied coordination on simplified models of quadrupedal behavior: the pair of papers Poulakakis (2005) and Poulakakis (2006) study bounding on Scout II: an underactuated quadruped with fixed shank compliance and a single rotary actuator at each hip.”
Biologically inspired climbing with a hexapedal robot (2008, methodology): “RiSE uses an open-loop gait, a strategy commonly used with dynamic quadrupedal and hexapedal robots (Altendorfer et al., 2001; Cham, Bailey, Clark, Full, & Cutkosky, 2002; Poulakakis, Smith, & Buehler, 2005), to achieve these ground reaction forces.”
A Bio-Inspired Hopping Kangaroo Robot with an Active Tail (2014, background): “The quadruped robot Scout II can be excited to have dynamically stable bounding gait under complex situation via simple control laws([4,5]).”
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges (2006, background): “The same model also describes the gross dynamics of legged machines such as RHex [13] [11] [208], and as we shall show in section 5, a second template model”
iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running (2006, result): “This value is comparable with that of other running robots, although higher than the most efficient of them (Poulakakis and Buehler, 2005; Weingarten et al, 2004).”