Pouya, SohaKhodabakhsh, MohammadMöckel, RicoIjspeert, Auke2013-04-022013-04-022013-04-022012https://infoscience.epfl.ch/handle/20.500.14299/91268In this contribution we introduce novel dynamics model based on existing dynamics modeling approaches that allow detailed studies on the role of a compliant spine in quadruped locomotion. We use this model to address our key questions on locomotion control and the effect of robot morphologies by performing extensive sets of experiments.text::conference output::conference poster not in proceedings