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We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot&#39;s trunk. We formulate the motion tracking as a quadratic program that takes into account the full robot rigid body dynamics, the actuation limits, the joint limits, and the contact interaction. We analyze the controller&#39;s robustness...

Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain