Trotting and Bounding in a Planar Two-legged Model

Summary: This paper describes algorithms for control and balance in a simple multi­ legged model. The model has two springy legs that operate in a plane, representing the lateral half of a quadruped. We have decomposed control of the model into three separate parts. The first part controls vertical bouncing, the second part controls fotward running and the third part controls body artitude. Results of simulating the model show that two variations of the control system result in two different running gaits, trorting and bound­ ing. The algorithms used to control this model are closely related to those used earlier to control systems with just one leg.