{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:51:12Z","timestamp":1777715472407,"version":"3.51.4"},"reference-count":58,"publisher":"SAGE Publications","issue":"13","license":[{"start":{"date-parts":[[2016,7,11]],"date-time":"2016-07-11T00:00:00Z","timestamp":1468195200000},"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":[[2016,11]]},"abstract":"<jats:p>This paper presents a demonstration of the trot-to-gallop transition and subsequent\n          stable gallop in a robotic quadruped. The MIT Cheetah I, a planar quadruped platform for\n          high-speed running, achieves these tasks with a speed of 3.2 m\/s (Froude number of 2.1) on\n          a treadmill. The controller benefits from clues from biological findings and it\n          incorporates (1) a gait pattern modulation that imposes predefined gait patterns with a\n          proprioceptive touchdown feedback, (2) tunable equilibrium-point foot-end trajectories for\n          four limbs that intentionally modulate ground reaction forces, and (3) programmable leg\n          compliance that provides instantaneous reflexes to leg\u2013ground interaction. An inertial\n          measurement unit sensor is integrated with the controller in order to regulate leg angles\n          of attack at touchdown. We reduce the dimension of the control parameters which describe\n          temporal\/spatial characteristics of quadruped locomotion, and the values are tuned via\n          dynamic simulation and then experiment. Given a pre-defined virtual leg compliance and a\n          desired angle of attack of legs, the equilibrium-point foot-end trajectories and phase\n          relationships between four legs for stable trot and gallop gaits are found independently.\n          We propose a simple throw-and-catch gait transition strategy which connects two stable\n          limit cycles, the trot and the gallop, by linearly varying control parameters during the\n          transition period. Successful gait transition is achieved in both simulation and\n          experiment. Comprehensive analysis on the characteristics of the MIT Cheetah I\n          experimental trot-to-gallop transition is provided. The phase portraits imply that stable\n          limit cycles are achieved with the proposed controller in both trot and gallop, which\n          enables the trot-to-gallop gait transition at high speed.<\/jats:p>","DOI":"10.1177\/0278364916640102","type":"journal-article","created":{"date-parts":[[2016,6,17]],"date-time":"2016-06-17T21:03:17Z","timestamp":1466197397000},"page":"1627-1650","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":69,"title":["Implementation of trot-to-gallop transition and subsequent gallop on the MIT          Cheetah I"],"prefix":"10.1177","volume":"35","author":[{"given":"Dong Jin","family":"Hyun","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering,\r        Massachusetts Institute of Technology, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jongwoo","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering,\r        Massachusetts Institute of Technology, USA"},{"name":"Center for Robotics Research, Korea Institute\r        of Science and Technology, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"SangIn","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering,\r        Massachusetts Institute of Technology, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sangbae","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering,\r        Massachusetts Institute of Technology, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2016,7,11]]},"reference":[{"key":"e_1_3_4_2_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300205"},{"key":"e_1_3_4_3_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008292328909"},{"key":"e_1_3_4_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/nme.512"},{"key":"e_1_3_4_5_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2012.0908"},{"key":"e_1_3_4_6_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2008.0328"},{"key":"e_1_3_4_7_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.073031"},{"key":"e_1_3_4_8_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X00072538"},{"key":"e_1_3_4_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00197760"},{"key":"e_1_3_4_10_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2006.1911"},{"key":"e_1_3_4_11_1","first-page":"215","article-title":"Brain or\n            muscles?","author":"Blickhan R","year":"2003","unstructured":"Blickhan R, Wagner H, Seyfarth A (2003) Brain or muscles?Recent research developments in biomechanics : 215\u2013245.","journal-title":"Recent research developments in biomechanics"},{"key":"e_1_3_4_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943258"},{"key":"e_1_3_4_13_1","unstructured":"Boston Dynamics (2013) Introducing wildcat. 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