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Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models
2011
Physical Review E
We investigated the dynamics of quadrupedal locomotion by constructing a simple quadruped model that consists of a body mechanical model and an oscillator network model. The quadruped model has front and rear bodies connected by a waist joint with a torsional spring and damper system and four limbs controlled by command signals from the oscillator network model. The simulation results reveal that the quadruped model produces various gait patterns through dynamic interactions among the body
doi:10.1103/physreve.83.061909
pmid:21797405
fatcat:hhyp5w75yrg45cxf2iqss27a2a