Stability Analysis of Passive Dynamic Walking of Quadrupeds

  title={Stability Analysis of Passive Dynamic Walking of Quadrupeds},
  author={C. David Remy and Keith W. Buffinton and Roland Siegwart},
  journal={I. J. Robotics Res.},
We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods are used to identify possible gaits and to analyze the stability and efficiency of quadrupedal passive dynamic walking. In doing so, special attention is paid to issues that are inherent to quadrupedal locomotion, such as the occurrence of simultaneous contact collisions and the implications of the phase difference… CONTINUE READING
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