Analysis of Compliant Torso Vibration on Passive Quadruped Walkers
Yuxuan Xiang, Yanqiu Zheng, Fumihiko Asano, Isao T. Tokuda
Abstract
Quadrupedal locomotion involves coordinated interaction between limbs and torso, enabling them to achieve remarkable movement performance and adapt effectively to various environments. In previous studies, mathematical dynamic models of quadrupeds have been established to investigate the mechanisms of limb-torso interaction during walking. However, due to the strong nonlinearity within the model, analyzing how the torso’s motion, especially vibrations, affects walking remains a significant challenge. In this study, the linearization and frequency analysis methods are applied to the quadruped walker to analyze its vibration characteristics, including natural frequency and vibration amplitude. Subsequently, numerical simulations are conducted to examine the relationship between torso vibration and walking performance. Furthermore, a comparison between the vibration characteristics and the simulation results reveals a potential resonance phenomenon. This finding not only validates the effectiveness of the linearization approach but also offers new insights into the interaction between the limbs and torso.
BibTeX
@inproceedings{iros2025_analysisofcompli,
title = {Analysis of Compliant Torso Vibration on Passive Quadruped Walkers},
author = {Yuxuan Xiang and Yanqiu Zheng and Fumihiko Asano and Isao T. Tokuda},
booktitle = {IROS 2025},
year = {2025}
}