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An active compliance controller for quadruped trotting

In this paper, we present the idea that very simple control schemes can lead to complex running gaits. To show this, a novel control framework is proposed for dynamic quadruped trotting, consisting of a toe trajectory planning part and an active compliance part driving each leg. While keeping the controller's structure simple, the notion of the system virtual stiffness is introduced as a single control parameter tuned to drive a quadruped through a complete dynamic trotting scenario, with acceleration from stance, constant speed locomotion, and deceleration. The method can serve as a tool for generating robust running locomotion at a wide range of speeds, or as a basis for other high level controllers. The presented ideas are evaluated through simulation experiments with a 2d dynamic model of four three-segment legs.