Bicycle-inspired simple balance control method for quadruped robots in high-speed running

This paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering the handle, which induces yaw motion in the body frame and generates an inertial effect to support balance. Inspired by this...

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Bibliographic Details

Published in:	Frontiers in Robotics and AI
Main Authors:	Shoei Hattori, Shura Suzuki , Akira Fukuhara , Takeshi Kano , Akio Ishiguro
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2025-01-01
Subjects:	quadruped robot model-free dynamic balance control high-speed running high-speed turning bicycle-inspired control
Online Access:	https://www.frontiersin.org/articles/10.3389/frobt.2024.1473628/full