Greco, Timothy MKoditschek, Daniel E.2023-05-222023-05-222023-02-242023-02-24https://repository.upenn.edu/handle/20.500.14332/34134This paper introduces a new controller that stabilizes the motion of a spatial quadruped around sagittal-plane templates. It enables highly dynamic gaits and transitional maneuvers formed from parallel and sequential compositions of such planar templates in settings that require significant out-of-plane reactivity. The controller admits formal guarantees of stability with some modest assumptions. Experimental results validate the reliable execution of those planar template-based maneuvers, even in the face of large lateral, yaw, and roll incurring disturbances. This spatial anchor, fixed in parallel composition with a variety of different parallel and sequential compositions of sagittal plane templates, illustrates the robust portability of provably interoperable modular control components across a variety of hardware platforms and behaviors. For more information: Kod*labyoutube© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.GRASPKodlabroboticslegged locomotionElectrical and Computer EngineeringEngineeringSystems EngineeringPresentation