Research Article

A Critical Characteristic in the Transverse Galloping Pattern

Figure 1

The simplified model for transverse gallop. The topside arrow indicates the direction of running. Each leg is characterized by the stiffness . The uncompressed length of leg is . Two legs are attached to the shoulder joint, and the other two are attached to the hip joint. The leg orientation is characterized by . The body orientation is characterized by . The length of the half rigid beam is characterized by . represent the leg force and its orientation coincides with the leg orientation.