Back-bending Quadruped

The robot is built by a series of dynamixel servos. We have “Salamander” for locomotion on granular surface like sand and “Baximander” for locomotion on flat hard ground.
Back Bending: we seek to show that salamanders and other quadrupeds use this internal degree of freedom to optimize performance, especially in heterogeneous terrains; Footfall Shape Space: we continue the investigation of using the combined geometric mechanics-Hildebrand diagram approach to both prescribe robotic gaits and investigate biological systems;
Learning for Template Discovery: we can discover templates for alternative behaviors, like in-place turning. Such toolset can search for alternative formulations where contact sequences and timing emerge as a result of a template which permits varying contact modes.
Tail for Gait Balance: we can use an actuated tail to improve the stability of the unbalanced gait, in order to achieve fast but also stable locomotion gait.