We have developed a biologically inspired reconfigurable quadruped robot which can performwalking and rolling locomotion and\ntransformbetween walking and rolling by reconfiguring its legs. This paper presents an approach to control rolling locomotion with\nthe biologically inspired quadruped robot. For controlling rolling locomotion, a controller which can compensate robot�s energy\nloss during rolling locomotion is designed based on a dynamic model of the quadruped robot.Thedynamic model describes planar\nrolling locomotion based on an assumption that the quadruped robot does not fall down while rolling and the influences of collision\nand contact with the ground, and it is applied for computing the mechanical energy and a plant in a numerical simulation. The\nnumerical simulation of rolling locomotion on the flat ground verifies the effectiveness of the proposed controller.The simulation\nresults show that the quadruped robot can perform periodic rolling locomotion with the proposed energy-based controller. In\nconclusion, it is shown that the proposed control approach is effective in achieving the periodic rolling locomotion on the flat\nground.
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