Quadrupedal bounding with spring-damper body joint

Stable locomotion indicates a stable limit cycle generated in the dynamic system. Although quadrupedal bound gait models have been investigated, there is no research which shows the generation of limit cycle and its dynamic properties. In the present study, we analyze a quadrupedal bound gait model which goes down slope and has back and front bodies with spring-damper joint between the bodies. We found the periodic bound gait which achieves a stable limit cycle and convergence property against perturbations.