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

Figure 5

Leg behavior and gait sequence at 2.44 m/s. (a) Ground reaction forces of four legs, (b) length change of four springy legs, (c) elevation angle of four legs, and (d) gait feature.

(a)

(b)

(c)

(d)