Optimal Gait Analysis of Quadruped Robot

Quadruped robot, types of robot which use four legs instead of wheel or track as its locomotion system need to have an optimal gait so that it can be program using the gait as the reference. There are a wide variety of quadruped gait source from the movement of an actual four legged animals called natural gait and also an artificial gait, which are gaits that are not used by the animals but possible as the optimal gait. To be a statically stable gait, the gaits have to contains several properties such as moving in a very low speed manner and able to keep at least 3 feet on the ground for the whole gait cycle.