Paper:
Design of Vertebrae-Inspired Trunk Mechanism for Robust and Directive Quadruped Locomotion on Rough Terrain Without Requiring Sensing and Actuation
Takashi Takuma, Yoshiki Murata, and Wataru Kase
Osaka Institute of Technology
5-16-1 Omiya, Asahi-ku, Osaka 535-8585, Japan

Quadruped robot equipping a vertebrae-inspired trunk mechanism
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