SOURCE-LINKED INTELLIGENCE

Duty Factor Predicts Robust Constrained Quadrupedal Locomotion Across Gait Types

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Quadrupedal robots are increasingly deployed in environments where locomotion must remain robust to disturbances and constrained terrain. Gait type, such as walking or trotting, is commonly used to characterize quadrupedal locomotion. However, gait type does not uniquely define locomotion, as parameters such as duty factor, speed, and stance width can vary within a single gait type. In this work, we investigate the relationship between these gait parameters using three distinct quadrupedal locomotion control approaches. First, using whole body trajectory optimization with LQR feedback, we show

Read original source ↗ Open in workspace

recordType

paper

region

Global