An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal
Fig 4
Optimal duty factors and pair lag vs magnitude of force rate cost coefficient () at
.
As force-rate penalties increase, duty factor also increases. Optimal duty factors in fore and hind remain close for all . Pair lag decreases slowly with force rate penalty. At no point do optimal duty factors and pair lags simultaneously match the empirical values (dotted lines) from [37]. The morphological data is based on a Dalmation from [37] (see also Fig 5B).