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Walking quadruped robots face challenges in positioning their feet andlifting their legs during gait cycles over uneven terrain. The robot Laika isunder development as a quadruped with a flexible, actuated spine designed toassist with foot movement and balance during these gaits. This paper presentsthe first set of hardware designs for the spine of Laika, a physical prototypeof those designs, and tests in both hardware and simulations that show theprototype's capabilities. Laika's spine is a tensegrity structure, used for itsadvantages with weight and force distribution, and represents the first workingprototype of a tensegrity spine for a quadruped robot. The spine bends byadjusting the lengths of the cables that separate its vertebrae, and twistsusing an actuated rotating vertebra at its center. The current prototype ofLaika has stiff legs attached to the spine, and is used as a test setup forevaluation of the spine itself. This work shows the advantages of Laika's spineby demonstrating the spine lifting each of the robot's four feet, both as aform of balancing and as a precursor for a walking gait. These foot motions,using specific combinations of bending and rotation movements of the spine, aremeasured in both simulation and hardware experiments. Hardware data are used tocalibrate the simulations, such that the simulations can be used for control ofbalancing or gait cycles in the future. Future work will attach actuated legsto Laika's spine, and examine balancing and gait cycles when combined with legmovements.

Design, Simulation, and Testing of a Flexible Actuated Spine for Quadruped Robots