An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal

• Delyle T. Polet ,

  Roles Conceptualization, Data curation, Formal analysis, Funding acquisition, Investigation, Methodology, Project administration, Software, Validation, Visualization, Writing – original draft, Writing – review & editing

  * E-mail: dtpolet@ucalgary.ca

  Affiliation Department of Biological Sciences, University of Calgary, Calgary, Alberta, Canada

  http://orcid.org/0000-0002-8299-3434

  ⨯
• John E. A. Bertram

  Roles Conceptualization, Funding acquisition, Methodology, Project administration, Supervision, Writing – review & editing

  Affiliation Department of Cell Biology and Anatomy, Cumming School of Medicine, University of Calgary, Calgary, Alberta, Canada

  http://orcid.org/0000-0001-5943-7184

  ⨯