Cheetah-Cub was not fundamentally altered from its early development days. Some major changes are introduced with Cheetah-Cub-AL. The leg was redesigned and features now a (to the saggital plane of the leg) symmetric diagonal spring, canceling unwanted bending behavior present in previous Cheetah-Cub-versions. Additionally, making use of classical CNC-manufacturing techniques with aluminum in combination with ball-bearings in every joint, friction was reduced, alignment of the axis and repeatability of experiments were improved. The changes to the trunk are little but feature now easy access to the control board for development purposes. Another major change is the switch to a new operating system, Jokto, that improves stability and ease of use. Tuleu implemented inverse-kinematics of the legs for control purposes. This allowed to tune gaits much faster andmore intuitively. The robot was featured recently in Prof. Ijspeert’s talk in TED Global Geneva.


P. Eckert : Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots. Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8592.
S. W. Heim; M. Ajallooeian; P. Eckert; M. Vespignani; A. Ijspeert : On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives. 2016. 18th Climbing and Walking Robots Conference (CLAWAR), Hangzhou, PEOPLES R CHINA, SEP 06-09, 2015. p. 256-264.
S. Heim; M. Ajalloeian; P. Eckert; M. Vespignani; A. Ijspeert : On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives; Industrial Robot: An International Journal. 2016. DOI : 10.1108/IR-10-2015-0190.
K. Weinmeister; P. Eckert; H. Witte; A. Ijspeert : Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion. 2015. 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics, Purdue University, West Lafayette, Indiana, USA, October 18-20, 2015. DOI : 10.1109/SSRR.2015.7443021.
K. Weinmeister; P. Eckert; H. Witte; A. Ijspeert : Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion ; AMAM 2015, Camebridge, Massachusetts, USA, June 21 - 25, 2015.
M. Ajallooeian; A. Sproewitz; A. Tuleu; A. Ijspeert : Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot ; 6th International Conference on Adaptive Motion of Animals and Machines, 2013, Darmstadt, Germany, March 11-14, 2013.
A. Sproewitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri et al. : Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot; International Journal of Robotics Research. 2013. DOI : 10.1177/0278364913489205.

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