Walking and Running with StarlETH

Abstract

This paper presents the latest advances we made in static and dynamic locomotion with our compliant quadrupedal robot StarlETH. It sum-marizes the robot design and outlines the differ-ent underlying control principles used to achieve sophisticated locomotion performance. The fo-cus of the paper is put on experimental find-ings which illustrate that the applied actuation and control principles are a valuable approach to bring our robotic devices a step closer to their natural counterparts. 1