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Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

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. To provide an alternative, we present a proof of concept framework making the nonlinear dynamics of a robot predictable in the design process and show

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