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Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits — arXiv:2609.00539

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.00539
License (as archived): CC0-1.0
Archived: 2026-10-17T07:18:21.730Z
SHA-256 of the archived text: 1dbac35d0e49fc005b9fe8da74782a6d73b5c0cc8685e0e1727366dacdda4c51
Stable URL of this page: https://metraipolis.com/documento/dc_1889ccd8a0ea

How to cite

Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits — arXiv:2609.00539 — arXiv (en), https://arxiv.org/abs/2609.00539 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_1889ccd8a0ea (Metraipolis archive dc_1889ccd8a0ea, sha256 1dbac35d0e49fc005b9fe8da74782a6d73b5c0cc8685e0e1727366dacdda4c51)

BibTeX

@misc{dc1889ccd8a0ea,
  title = {Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits — arXiv:2609.00539},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.00539},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_1889ccd8a0ea; sha256 1dbac35d0e49fc005b9fe8da74782a6d73b5c0cc8685e0e1727366dacdda4c51},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.00539. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need for active control. By tuning posture and muscle stiffness, they leverage their embodied intelligence to achieve effective gaits for different speeds. In contrast, most quadruped robots are not specifically designed to exploit mechanical resonance due to the complexity of nonlinear dynamics and require dedicated locomotion controllers. To provide an alternative, we present a proof of concept framework making the nonlinear dynamics of a robot predictable in the design process and show how this knowledge can be leveraged such that multi-gait locomotion can emerge from nonlinear resonances, shaped by gravity, inertia, and elasticity. We present the highly compliant quadruped robot eBert, on which we identify six nonlinear normal modes (NNMs) using our new theoretical tools and validate their existence in simulation and hardware. With black-box optimization to determine step length, simulations show how each NNM naturally develops into a distinct gait, manifesting different speeds, which also largely transfers to the robotic hardware. Our experiments show that eBert can exploit its mechanics to generate task-specific movements which may serve as foundation for designing a new generation of agile and efficient robots leveraging embodied intelligence.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-02 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.00539 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-17T07:06:32.678Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-02?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).