On the Dynamic Similarity between Bipeds and Quadrupeds: a Case Study on Bounding

In this project, we identify passive dynamic bounding gaits of quadrupedal robots and investigate the dynamic similarities between these gaits and those of a bipedal model. For this purpose, we develop a passive dynamic bounding model of a quadruped with an extended main body. This model is based on the established SLIP model, yet has dynamic swing leg motions instead of a predefined angle of attack. We present a gait-identification framework that is based on a numerical continuation approach and that allows us to find all possible passive periodic motions that emerge from pronking and bounding in place. These gaits include forward pronking as well as forward bounding with gathered suspension, extended suspension, and with two suspensions.