Trotting Motion of the Quadruped Model with Two Spinal Joints and Its Dynamics Features

Figure 4

Dynamic behavior of the model with two spinal joints at 2.44 m/s. (a) Horizontal displacement of middle body, (b) vertical displacement of three bodies, (c) horizontal velocity of middle body, (d) vertical velocity of three bodies, (e) inclination angle of three bodies, and (f) the rotation angle of two spinal joints.

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(b)

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(f)