Minitaur Gait Simulation
building complex gaits from planar models
Check out my final report (as well as the previous reports documenting kinematics and control techniques for a 2-DOF slot hopper) where I document the implementation of bounding and pronking gaits on a simulated Minitaur robot. More information coming soon!
Taurhopper fore-aft control.
![](/assets/img/projects/minitaur-gaits/minitaur.png)
Minitaur quadruped.