Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

Figure 1

Schematic drawing of different stereotypic quadrupedal walking patterns. In trot, two diagonal legs swing in synchrony (a). In walk, synchronous swing of a diagonal pair of legs is followed by two single leg swing phases (b, c). Black bars indicate leg swing and R and L correspond to right and left sides, respectively [8].

(a)

(b)

(c)