Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
Researchers analyzed a compliant quadruped robot, eBert, to find its six Nonlinear Normal Modes (NNMs) using mathematical tools. By exciting these modes with a simple controller, the robot naturally unfolded distinct gaits corresponding to different speeds and movements. This demonstrates how inherent mechanical resonance can shape multi-gait locomotion without complex programming.