Rotary gallop in the untethered quadrupedal robot scout II

This paper discusses recent galloping results obtained using the Scout II quadrupedal robot, an underactuated robot with minimal sensing. The rotary variation of the gallop has been implemented, resulting in a motion which demonstrates both emergent stability and a circular trajectory, as predicted in earlier simulation studies by other researchers. It also demonstrates phase relationships in the leg touchdown pattern which resemble results from biology.