Cheetah Challenge

Mechanical design
•Modular design for a quadruped cheetah robot
•Embedded actuators with energy-aware intelligence for hoping motion
•Variable compliance spine design for cheetah
•Port-Hamiltonian models for cheetah robot in a new design
•Identification of hopper and cheetah dynamic parameters
Motion planning and control
•Energy-efficient design and control for a single-leg hopper (more laps for assigned budget and time limits)
•Synchronization of oscillations with RCC for 2- and 4-legged hopper
•Synchronization under time-delays between actuators