Towards Realization of Adaptive Running of a Quadruped Robot Using Delayed Feedback Control

In this paper we present the system design and analysis of a quadruped robot, Rush, that we have constructed to study autonomous and efficient running on flat and rough terrain. The Rush robot is a compact, kneed, four legged machine with only one actuator per compliant leg. We have proposed a novel control strategy for the quadruped robot in consideration of several engineering limitations on sensory feedback. Several simulation studies have already been performed to confirm the validity of the control strategy in our previous reports. Here, the results obtained from experiments with Rush are found to agree with the simulation results. The work reported in this paper may help improve our understanding of energy efficient running locomotion and the simple control required to autonomously stabilize it on flat or rough terrain.