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A dedicated open-loop locomotion controller was derived and implemented. Experiments were run in simulation and in hardware on flat terrain and with a step down, demonstrating the robot\u2019s self-stabilizing properties. The robot reached a running trot with short flight phases with a maximum Froude number of FR = 1.30, or 6.9 body lengths per second. Morphological parameters such as the leg design also played a role. By adding distal in-series elasticity, self-stability and maximum robot speed improved. Our robot has several advantages, especially when compared with larger and stiffer quadruped robot designs. (1) It is, to the best of the authors\u2019 knowledge, the fastest of all quadruped robots below 30kg (in terms of Froude number and body lengths per second). (2) It shows self-stabilizing behavior over a large range of speeds with open-loop control. (3) It is lightweight, compact, and electrically powered. (4) It is cheap, easy to reproduce, robust, and safe to handle. This makes it an excellent tool for research of multi-segment legs in quadruped robots.<\/jats:p>","DOI":"10.1177\/0278364913489205","type":"journal-article","created":{"date-parts":[[2013,6,17]],"date-time":"2013-06-17T23:04:29Z","timestamp":1371510269000},"page":"932-950","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":377,"title":["Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot"],"prefix":"10.1177","volume":"32","author":[{"given":"Alexander","family":"Spr\u00f6witz","sequence":"first","affiliation":[{"name":"Biorobotics Laboratory, Institute of Bioengineering, EPFL, Lausanne, Switzerland"}]},{"given":"Alexandre","family":"Tuleu","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Institute of Bioengineering, EPFL, Lausanne, Switzerland"}]},{"given":"Massimo","family":"Vespignani","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Institute of Bioengineering, EPFL, Lausanne, Switzerland"}]},{"given":"Mostafa","family":"Ajallooeian","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Institute of Bioengineering, EPFL, Lausanne, Switzerland"}]},{"given":"Emilie","family":"Badri","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Institute of Bioengineering, EPFL, Lausanne, Switzerland"}]},{"given":"Auke Jan","family":"Ijspeert","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Institute of Bioengineering, EPFL, Lausanne, 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