Abstract: In this paper, the dynamics of quadruped trot, gallop, and bound will be examined using a simple model for the quadruped. The body of the quadruped is modeled as a uniform bar and the legs ...

Abstract: This paper utilizes a kinematic-geometric approach to study the first-order motion characteristics of wheeled vehicles on even and uneven terrain. The results obtained from first-order studies are ...

Abstract: A dynamic model for the two-dimensional quadruped has been developed. The main body is modelled as a rigid bar and each leg consists of a constant stiffness spring, a viscous damper and a ...