development of several exciting new projects based on Cheetahs. One such robot is Cheetah-Cub, a compliant quadruped developed at the Biorobotics lab at the EPFL, the Swiss Federal Institute of Technology in Lausanne. To put Cheetah-Cub in motion, the EPFL group teamed up with researchers from the Italian Institute of Technology (IIT), who have recently managed to transfer horse-like locomotion to the robot.
EPFL's Cheetah-Cub quadruped, which weighs just 1.1 kg (2.4 lb) and is about the size of a housecat, is powered by Kondo KRS2350 hobby servos. It's a compliant robot that, like IIT's COMAN humanoid, is part of the AMARSi (Adaptive Modular Architectures for Rich Motor Skills) project, which seeks to "improve biological richness of robotic motor skills." The Cheetah-Cub itself will be described in a paper soon to be published in the International Journal of Robotics Research, so for now we're going to look at how the team at IIT made it move like a horse, using an approach different from their previous work with the hydraulic quadruped HyQ.
Full text at source cited below,.