This paper examines all of the theoretically possible quadruped gaits. Only six gaits can be executed while three feet are on the ground at all times. These six, called creeping gaits, permit a quadruped to remain statically stable during most of a locomotion cycle. The gaits were analyzed by means of a 2n-1 parameter model with extensions that account for basic kinematic parameters associated with geometric aspects of a quadruped machine or animal. The model considers only steady state, constant speed locomotion in a straight line over a horizontal plane supporting surface with the legs of the system cycling periodically in both space and time. Only three of the six gaits enable the quadruped to be statically stable at all times. Of the three, one is a unique optimum gait with maximum static stability. The gait corresponds to the normal quadruped crawl favored by most animals for very low speed locomotion. The model, though idealized, appears sufficiently close to reality to permit qualitative extrapolation to real locomotion systems. Stability analysis of biped gaits requires the use of dynamic models that will necessarily be more complex than the kinematic model. (Author)


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    On the Stability Properties of Quadruped Creeping Gaits

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