Cheetah-cub ground reaction forces individual legs

23 December 2021

00:56

Work with Cheetah-cub robot: ground reaction forces in trot gait, separated by 2x GRF plates. Green vector presents the left hind leg, blue vector presents the front right leg. Red: sum of front and hind leg. Between 32sec and 38sec one stance phase is well recorded. It shows the orientation of the sum of GRFs towards the robot. A slight tendency of the GRF is visible to point behind the COM prior to mid-stance, and in front of the COM between midstance and toe off. This behaviour is consistent with a VPP behaviour off not pointing at the COM. Published by: Spröwitz, Tuleu, Vespignani, Ajallooeian, Badri, Ijspeert: Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot. The International Journal of Robotics Research 32 (8), pp. 932-950 (2013) doi: 10.1177/0278364913489205