SOURCE-LINKED INTELLIGENCE

Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics with the locomotion pattern. This paper analyzes how passive-arm stiffness-damping selection affects payload-carrying locomotion under different gait and payload conditions. We compare damped and underdamped passive-arm impedance configurations in simulation during flat-ground locomotion. For crawl gaits, where the support polygon remains well defined, the results show that underdamped impedance increases passive-joint

Read original source ↗ Open in workspace

recordType

paper

region

Global