Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot

By Alexander Spröwitz, Alexandre Tuleu, Massimo Vespignani, M. Ajallooeian, E. Badri, Auke Jan Ijspeert. Int. J. Robotics Res., 2013

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Manipulators and Manipulation in high dimensional spaces (2016, methodology): “As the bandwidth of fluid based actuators (specially hydraulics) is improving, with the advancements in the value technology (MOOG), they are increasingly being used in the fast dynamics applications – Spot, Atlas [15], HyQ quadruped [91], Cheetah [96].”
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control (2019, methodology): “Cheetah Cub from EPFL [3] uses two position-controlled servomotors per leg, and springs to store and release energy during the gait cycle.”
Design Principles for a Family of Direct-Drive Legged Robots (2016, background): “The specific resistance of the DD robots is no worse than that of other machines of a similar scale (StarlETH and Cheetah Cub), though the larger machines perform better (as expected).”
Modular Hopping and Running via Parallel Composition (2017, background): “Gear ratios in legged robots are typically in the range of 20:1 to 300:1 Galloway et al. (2010b), Grimes and Hurst (2012), Hutter et al. (2013), Sprowitz et al. (2013b), so by removing the gearbox, mass-specific torque (not power) becomes the first limiting resource in electromagnetically actuated…”
Learning robot gait stability using neural networks as sensory feedback function for Central Pattern Generators (2013, methodology): “The unit oscillator has been modified from [16].”