Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation
J. Diego Caporale,Benjamin W. McInroe,Chenze Ning,Thomas Libby,Robert J. Full,Daniel E. Koditschek,J. Diego Caporale,Benjamin W. McInroe,Chenze Ning,Thomas Libby,Robert J. Full,Daniel E. Koditschek
Despite substantial evidence for the crucial role played by an active backbone or spine in animal locomotion, its adoption in legged robots remains limited because the added mechanical complexity and resulting dynamical challenges pose daunting obstacles to characterizing even a partial range of potential performance benefits. This paper takes a next step toward such a characterization by explorin...
