Quadrupedal bounding with a segmented flexible torso: passive stability and feedback control.

@article{Cao2013QuadrupedalBW,
  title={Quadrupedal bounding with a segmented flexible torso: passive stability and feedback control.},
  author={Qu Cao and Ioannis Poulakakis},
  journal={Bioinspiration & biomimetics},
  year={2013},
  volume={8 4},
  pages={046007}
}
In this paper, the implications of torso flexibility on the dynamics of quadrupedal running are examined in a template setting. In the same vein with the spring loaded inverted pendulum, a reductive sagittal-plane model with a segmented flexible torso and compliant legs is introduced to capture the dynamics of bounding in the presence of torso flexibility via a minimum number of variables and parameters. Numerical return map studies of the system in dimensionless setting reveal that a large… CONTINUE READING
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