Modeling the Dynamics of Quadrupedal Running

  title={Modeling the Dynamics of Quadrupedal Running},
  author={Matthew D. Berkemeier},
  journal={I. J. Robotics Res.},
In this paper, a 2-DOF model for quadrupedal running-in-place is presented, consisting of a rigid body on springy legs. "Energypumping " feedback is included to excite the natural dynamics of the system. The model exhibits at least two periodic solutions, which correspond to the bound and pronk gaits of four-legged animals. Approximate return maps are constructed around both trajectories, and these are used to derive explicit expressions for the amplitude and stability of the gaits. The pronk… CONTINUE READING
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