The nonlinear dynamics of a transverse galloping blunt body oscillator is analyzed with respect to its geometric shape and size. The oscillator's equation of motion is studied using an approximation for the lateral aerodynamic force that is a polynomial function of the angle of attack. The harmonic balance method is used to solve the nonlinear differential equation of motion. This solution is u...

A nonlinear two degree-of-freedom model, describing a flexible elastic suspended cable undergoing galloping oscillations, is analyzed. By using a perturbative approach, the critical conditions occuring for different values of the aerodynamic coefficients are described. Two different type of critical conditions, corresponding to simple or double Hopf bifurcations are found. The nonlinear postcri...

In nature, quadrupeds make significant use of their flexible spine to achieve energetically economical locomotion. We hypothesize that a flexible spine will also be energetically beneficial for robotic quadrupeds. To test this hypothesis, we compare the energetically optimal motion of a model of a rigid spine quadruped to a model with an articulated spine. We look at a variety of common quadrup...