Biomechanic of quadrupedal walking

[Merlin]

Hi all,
I am very interested in the biomechanics of quadrupedals and I have built the Bioloid Puppy for researching purposes.
The forward walking of puppy included in motion file in my opinion is very clumsy.
There are issues of speed, forces and balance to get better walking and I am looking for some guidance on this matter, because I am a complete newbie on this field.
I want to ask you if you have some guide document, maybe some of you has developed a new motion file that would like to share, for a starting point in order to get a more elegant walking from Puppy.
I will appreciatte all your comments and suggestions.

Thanks in advance


merlin

[siempre.aprendiendo]

You can find information at:

Quadruped Locomotion - Musings About Running Dogs and Other 4-Legged Creatures

Hope it helps