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.
@article{arxiv.2209.15617,
title = {Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped},
author = {Timothy Greco and Daniel E. Koditschek},
journal= {arXiv preprint arXiv:2209.15617},
year = {2023}
}