Hoyt D F,Taylor C R. Gait and the energetics of locomotion in horses[J].Nature, 1981, 292(5820): 239-240.
[2]
Nanua P, Waldron K J. Energy comparison between trot, bound, and gallop using a simple model[J]. Journal of Biomechanical Engineering, 1995, 117(4): 466-473.
[3]
Raibert M H. Legged Robots that Balance[M]. Massachusetts: MIT Press, 1986.
[4]
Buchli J, Kalakrishnan M,Mistry M, et al. Compliant quadruped locomotion over rough terrain[C]∥IEEE Intelligent Robots and Systems, St. Louis, USA, 2009: 814-820.
[5]
Palmer III L R, Orin D E.Intelligent control of high-speed turning in a quadruped[J]. Journal of Intelligent and Robotic Systems, 2010, 58(1): 47-68.
[6]
Shkolnik A, Levashov M, Manchester I R, et al. Bounding on rough terrain with the LittleDog robot[J]. The International Journal of Robotics Research, 2011, 30(2): 192-215.
[7]
Kalakrishnan M, Buchli J, Pastor P, et al. Learning, planning, and control for quadruped locomotion over challenging terrain[J]. The International Journal of Robotics Research, 2011, 30(2): 236-258.
[8]
Maufroy C, Nishikawa T, Kimura H. Stable dynamic walking of a quadruped robot “Kotetsu” using phase modulations based on leg loading/unloading[C]∥IEEE International Conference on Robotics and Automation, Anchorage, USA, 2010: 5225-5230.
[9]
Maufroy C, Kimura H, Takase K. Integration of posture and rhythmic motion controls in quadrupedal dynamic walking using phase modulations based on leg loading/unloading[J]. Autonomous Robots, 2010, 28(3): 331-353.
[10]
Buehler M, Playter R, Raibert M. Robots step outside[C]∥Adaptive Motion of Animals and Machines, Ilmenau, Germany,2005: 1-4.
[11]
Pratt J, Chew C M, Torres A, et al. Virtual model control: An intuitive approach for bipedal locomotion[J]. The International Journal of Robotics Research, 2001, 20(2): 129-143.
[12]
Hutter M, Remy C D, Hoepflinger M A, et al. Scarleth: design and control of a planar running robot[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA, 2011: 562-567.
[13]
Jiang Zhen-yu, Li Man-tian, Guo Wei. Running control of a quadruped robot in trotting gait[C]∥IEEE Conference on Robotics, Automation and Mechatronics, Qingdao, China, 2011: 172-177.
[14]
Spröwitz A, Tuleu A, Vespignani M, et al. Towards dynamic trot gait locomotion: design, control, and experiments with cheetah-cub, a compliant quadruped robot[J]. The International Journal of Robotics Research, 2013, 32(8): 932-950.