Body flexibility effects on foot loading based on quadruped bounding models

Tomoya Kamimura, Yuichi Ambe, Shinya Aoi, Fumitoshi Matsuno

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


In this paper, we investigate effects of the flexibility of the body on locomotion of a quadruped robot using computer simulation with physical models. So far, many researchers have used legged robots whose bodies consist of one rigid body and examined dynamical properties, such as stability of gaits and energy efficiency. However, from the observation of animals, it has been suggested that flexibility of the body is important for dynamic locomotion. We used two types of simple physical models, with and without a springy joint in their body to evaluate the importance of the body flexibility on the bounding gait, where left and right legs simultaneously kick the ground. Our simulation results show that when we use the same mechanical energy for these two models, the maximum ground reaction force for the model with a body springy joint is smaller than that for the model without a body springy joint (rigid body) even when their locomotion speeds are identical. This suggests that the flexibility of the body can reduce the foot loading of the robot in the bounding gait.

Original languageEnglish
Pages (from-to)270-275
Number of pages6
JournalArtificial Life and Robotics
Issue number3
Publication statusPublished - 2015 Oct 3
Externally publishedYes


  • Bounding gait
  • Dynamic walking
  • Flexible spine
  • Quadruped robot

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence


Dive into the research topics of 'Body flexibility effects on foot loading based on quadruped bounding models'. Together they form a unique fingerprint.

Cite this