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An effective strategy for walking over rough terrain, flat plane, and wreckage includes transitioning from quadrupedal to bipedal locomotion. In this study, we designed a trunk mechanism that provides successful posture transition from quadrupedalism to bipedalism. The proposed trunk mechanism imitates the human trunk with redundant joints and elastic muscles supporting the trunk. The simulation results show that the proposed mechanism provides a successful and more rapid transition compared to the conventional rigid body.

Influence of trunk structure on posture transition from quadrupedalism to bipedalism