Quadruped robot running with a bounding gait

Scout II, an autonomous four-legged robot with only one actuator per compliant leg is described. We demonstrate the need to model the actuators and the power source of the robot system carefully in order to obtain experimentally valid models for simulation and analysis. We describe a new, simple running controller that requires minimal task level feedback, yet achieves reliable and fast running up to 1.2 m/s. These results contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. An energetics analysis reveals a highly efficient system with a specific resistance of 0.32 when based on mechanical power dissipation and of 1.0 when based on total electrical power dissipation.