A cheetah model is built to mimic real cheetah and its mechanical and dimensional parameters are derived from the real cheetah.\nIn particular, two joints in spine and four joints in a leg are used to realize the motion of segmented spine and segmented legs which\nare the key properties of the cheetah bounding. For actuating and stabilizing the bounding gait of cheetah, we present a bioinspired\ncontroller based on the state-machine. The controller mainly mimics the function of the cerebellum to plan the locomotion and\nkeep the body balance. The haptic sensor and proprioception system are used to detect the trigger of the phase transition. Besides,\nthe vestibular modulation could perceive the pitching angle of the trunk. At last, the cerebellum acts as the CPU to operate the\ninformation from the biological sensors. In addition, the calculated results are transmitted to the low-level controller to actuate and\nstabilize the cheetah bounding. Moreover, the delay feedback control method is employed to plan the motion of the leg joints to\nstabilize the pitching motion of trunk with the stability criterion. Finally, the cyclic cheetah bounding with biological properties is\nrealized. Meanwhile, the stability and dynamic properties of the cheetah bounding gait are analyzed elaborately.
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