The Lagging Legs Exploiting Body Dynamics to Steer a Quadrupedal Agent

Abstract

Abstract ⎯ The goal of this work was to steer a quadrupedal agent simply by changing the phase delay between its legs. Thus, we were able to show that a quadrupedal agent could possibly reach every point on a plane simply by exploiting its body dynamics. By exploiting body dynamics the controller has to fulfill only the function of a disturbance variable rather than exactly controlling the parameters of an agent’s movement. I