Paper ID: 2209.15617

Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped

Timothy Greco, Daniel E. Koditschek

This technical report provides a more thorough treatment of the proofs and derivations contained in a recent conference paper submission. The description of the anchoring controller is reproduced here without abridgement, and additional appendices provide a clearer account of the implementation details.

Submitted: Sep 30, 2022