This paper investigates the effects of spine flexibility on quadruped running with a bounding gait. A quadruped model with a passive, flexible, segmented body, actuated hip joints and legs is introduced. By using a numerical return map, a periodic bounding locomotion of the model has been found, with an optimal set of initial conditions and proper system parameters.
['Luong Tin Phan', 'Yoon Haeng Lee', 'Dong Youn Kim', 'Hyouk Ryeol Choi']
Quadruped bounding with a passive compliant spine