Fig. 5
From: Information-based centralization of locomotion in animals and robots
Centralization of the bounding Minitaur robot. a Image of Minitaur showing the adjustable weight system. The arrows indicate leg extensions used for the local and global states. b The commanded torque at the hip to drive the extension of a single leg was selected as the control signal. The local state was the measured extension of that leg. The global state was the average of all leg extension trajectories. Strides were aligned by the pitch angle of the robot. c ICENT and ICO of the three different moment of inertia conditions. The estimated axial force to a rear leg was used as the control variable. d Estimated axial force to a front leg was used as a control variable
