Duperret, JeffKoditschek, Daniel E2023-05-222023-05-222017-06-012017-06-15https://repository.upenn.edu/handle/20.500.14332/34025We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.youtubeGRASPKodlabControls and Control TheoryElectrical and Computer EngineeringEngineeringRoboticsPresentation