An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal
Fig 6
These locally optimal solutions are a sample of the diverse gaits possible with the model.
Each stick figure is a snapshot from a different part of the gait cycle. The first still (leftmost, purple) is at touchdown of the left hindlimb. Each still is separated from the next in time by one tenth of the stride time, culminating at the next left-hind touchdown. The “x” marker represents center of mass location. At both a walking speed of (A-D) and running speed of
(E-H), asymmetric (A,B,E,F) and symmetric gaits (C,D,G,H) are possible. y-axis and x-axis scales are equal.