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arXiv paper explores using nonlinear body oscillations to generate natural quadruped gaits

The paper proposes a proof-of-concept framework that incorporates a robot's nonlinear dynamics into the design process, enabling multi-gait locomotion to emerge from nonlinear resonances shaped by gravity, inertia, and elasticity. The authors introduce the highly compliant quadruped robot eBert, use new theoretical tools to identify six nonlinear normal modes (NNMs), and validate their existence in simulation and hardware. Using black-box optimization to determine step length, simulations show that each NNM naturally develops into a distinct gait with different speeds, and most of these largely transfer to the physical hardware.

Part of the event: Paper proposes framework for generating multi-gait in quadrupeds using nonlinear resonance

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