Evangelos Papadopoulos

[ 1 ] - On Passive Quadrupedal Bounding with Flexible Linear Torso

This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. Fixed points corresponding to cyclic bounding motions are found and calcul...