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simmediumquadrupedmetric · varies
SPARC: Spine with Prismatic and Revolute Compliance for Quadruped Robots
Description
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present SPARC, a compact 3-DoF sagittal-plane spine module that enables simultaneous revolute and prismatic motions within a 1.26 kg package. Using a floating-base impedance controller, we facilitate independent, task-space tuning of spinal stiffness and damping to mimi