Work at Biorob / EPFL; Cheetah-cub runs successful over a step-down perturbation, and self-stabilizes afterwards. The applied locomotion controller is a feed-forward Central Pattern Generator.

Published in: Spröwitz, A.; Tuleu, A.; Vespignani, M.; Ajallooeian, M.; Badri, E.; Ijspeert, A. J.: Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot. The International Journal of Robotics Research 32 (8), pp. 932-950 (2013)

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