Alexander Spröwitz, Dr. Sc.

Dynamic Locomotion Group

Max Planck Institute for Intelligent Systems

Heisenbergstr. 3, 3N22
70569 Stuttgart, Germany

Phone: +49 (0)711 689 3499



More videos can be found on the DLG youtube channel.


A robot that runs like a cat.

Summary of our work at Biorob / EPFL with Cheetah-cub robot, a compliant, small-sized, robust quadruped robot for legged locomotion research.


Cheetah-cub robot leg design: spring loaded pantograph legs.

The video shows the spring loaded pantograph leg design of Cheetah-cub robot, based on the animal-inspired three-segmented pantograph mechanisms (Witte et al, 2003). Leg springs parallel to the leg length motor compensate for gravitational forces. No motor actuation is required during standing and stance phase. Work at Biorob / EPFL.


Cheetah-cub running in the hallway

Cheetah-cub robot running with 5.1 body length per second (1.04m/s) in the hallway. Trot gait. The robot runs freely, the power cable is used for steering only, and kept loose otherwise. Work at Biorob / EPFL.

Published in: Spröwitz, A.; Tuleu, A.; Vespignani, M.; Ajallooeian, M.; Badri, E.; Ijspeert, A. J.: Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot. The International Journal of Robotics Research 32 (8), pp. 932-950 (2013)


Cheetah-cub robot at step down perturbation.

Run a) Cheetah-cub robot runs successful over a step-down perturbation, and self-stabilizes afterwards. b) Camera following at step-down perturbation. c) An unsuccessful step-down, the step-down height was too large. The applied locomotion controller is in all three cases a feed-forward Central Pattern Generator (no feedback). Work at Biorob / EPFL.


Bobcat robot, a bounding quadruped robot with an active spine.

Bobcat robot applies its active spine control to efficiently bound. Short flight phases are visible in this gait. An open loop CPG controller produces the feed forward locomotion patterns. Published in: Khoramshahi , M.; Spröwitz, A.; Tuleu, A.; Ahmadabadi, M. N.; Ijspeert, A. J.: Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot. In: Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 3329-3334. Karlsruhe, May 06, 2013 - May 10, 2013. IEEE, New York, NY (2013)


Exciting template dynamics in a versatile bipedal robot

The bipedal robot ATRIAS was developed by Prof. Jonathan Hurst and his team at Oregon State University. This video is part of a cooperation work, and part of the following paper.

Published in: Daniel Renjewski, Alexander Spröwitz, Andrew Peekema, Mikhail Jones, and Jonathan Hurst, "Exciting Engineered Passive Dynamics in a Bipedal Robot," IEEE Transactions on Robotics and Automation 31 (5), 1244-1251 (2015).
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