{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T05:31:22Z","timestamp":1784179882103,"version":"3.55.0"},"reference-count":60,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2014,8,21]],"date-time":"2014-08-21T00:00:00Z","timestamp":1408579200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2014,9]]},"abstract":"<jats:p>This paper presents implementation of a highly dynamic running gait with a hierarchical controller on the MIT Cheetah. The developed controller enables high-speed running of up to 6\u2009m\/s (Froude number of Fr \u2248 7.34) incorporating proprioceptive feedback and programmable virtual leg compliance of the MIT Cheetah. To achieve a stable and fast trot gait, we applied three control strategies: (a) programmable virtual leg compliance that provides instantaneous reflexes to external disturbance and facilitates the self-stabilizing shown in the passive dynamics of locomotion; (b) tunable stance-trajectory design, intended to adjust impulse at each foot-end in the stance phase in a high speed trot-running according to the equilibrium-point hypothesis; and (c) a gait-pattern modulation that imposes a desired cyclic gait-pattern taking cues from proprioceptive TD feedback. Based on three strategies, the controller is hierarchically structured. The control parameters for forward speeds, a specific gait-pattern, and desired leg trajectories are managed by a high-level controller. It consists of both a gait-pattern modulator with proprioceptive leg TD detection and a leg-trajectory generator using a B\u00e8zier curve and a tunable amplitude sinusoidal wave. Instead of employing physical spring\/dampers in the robot\u2019s leg, the programmable virtual leg compliance is realized using proprioceptive impedance control in individual low-level leg controllers.<\/jats:p>\n                  <jats:p>To verify the developed controller, a robot dynamic simulator is constructed based on the model parameters of the MIT Cheetah. The controller parameters are tuned with the simulator to achieve self-stability, and then applied to the MIT Cheetah in an experimental environment. Using leg kinematics and applied motor current feedbacks, the MIT Cheetah achieved a stable trot-running gait in the sagittal plane.<\/jats:p>","DOI":"10.1177\/0278364914532150","type":"journal-article","created":{"date-parts":[[2014,8,21]],"date-time":"2014-08-21T22:32:28Z","timestamp":1408660348000},"page":"1417-1445","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":248,"title":["High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah"],"prefix":"10.1177","volume":"33","author":[{"given":"Dong Jin","family":"Hyun","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, MIT, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sangok","family":"Seok","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, MIT, Cambridge, MA, 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