Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped

TL;DR

This technical report elaborates on the proofs, derivations, and implementation details of an anchoring controller for sagittal plane templates in a spatial quadruped, enhancing clarity and completeness of prior work.

Contribution

It provides a detailed and thorough explanation of the anchoring controller, including proofs, derivations, and implementation specifics, which were previously summarized in a conference paper.

Findings

Enhanced understanding of the anchoring controller

Detailed derivations and proofs provided

Implementation details clarified

Abstract

This technical report provides a more thorough treatment of the proofs and derivations contained in a recent conference paper submission. The description of the anchoring controller is reproduced here without abridgement, and additional appendices provide a clearer account of the implementation details.