Generation of quadruped gait using asymmetric flexible trunk and neural oscillator model

This study targets a four-legged model with a flexible trunk with an anterior-posterior asymmetric structure, and aims to enable the model to autonomously acquire periodic and high-speed gaits by using a neural oscillator model. Simulation results showed that a trunk with an anterior flexible joint and the neural oscillator model provided a high-speed, bouncy gait, whereas a trunk with a flexible joint in the middle or rigid body achieved a slower gait.