Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits
Federico Del Fatti,Anna Sesselmann,Máximo A. Roa,Federico Del Fatti,Anna Sesselmann,Máximo A. Roa
Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affects the stability of the gait. This paper provides an analysis of the influence of this variable leg...
