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

Figure 7

Dynamics characteristics at different velocities. (a) Stiffness of front and hind spinal joint, (b) stiffness of forelimb and hindlimb, (c) initial vertical displacement of the middle body, and (d) attack angle of forelimb and hindlimb.

(a)

(b)

(c)

(d)