On the energetics of quadrupedal running: predicting the metabolic cost of transport via a flexible-torso model.

@article{Cao2015OnTE,
  title={On the energetics of quadrupedal running: predicting the metabolic cost of transport via a flexible-torso model.},
  author={Qu Cao and Ioannis Poulakakis},
  journal={Bioinspiration & biomimetics},
  year={2015},
  volume={10 5},
  pages={056008}
}
In this paper, the effect of torso flexibility on the energetics of quadrupedal bounding is examined in a template setting. Two reductive sagittal-plane models, one with a rigid, non-deformable torso and one with a flexible, unactuated torso are proposed. Both models feature non-trivial leg mass and inertia to capture the energy associated with… CONTINUE READING