Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2609.00539v1 Announce Type: new Abstract: Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need for active control. By tuning posture and muscle stiffness, they leverage their embodied intelligence to achieve effective gaits for different speeds. In contrast, most quadruped robots are not specifically designed to exploit mechanical resonance due to the complexity of nonlinear dynamics and require dedicated locomotion controllers.