Parametric analysis and design guidelines for a quadruped bounding robot

This paper attempts to set the basis for a systematic approach in designing legged robots. A dynamically stable quadruped robot running in the sagittal plane with a bounding gait is used, and a non-dimensional criterion that is based on the robot's forward speed and the required power to sustain a passive motion, is introduced. Dimension-less robot parameters ratios and desired motion variables are inputs to an optimization scheme that takes into consideration findings from experimental biology and environment specifications. Basic design guidelines, which derive from simulation results, are provided.