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Quadrupeds transition spontaneously to various gait patterns (e.g., walk,trot, pace, gallop) in response to the locomotion speed. The generation ofthese gait patterns has been the subject of debate for a long time. We proposea coupled oscillator model that is coupled with the physical interactions ofthe body. The results of this study showed that the gait pattern transitionsspontaneously to walking/trotting/pacing/bounding in manner similar to that ofreal quadruped animals when the resonating portion of the body is changedaccording to the speed of leg movement. We also observed that pacing isexpressed exclusively instead of trotting by changing the physicalcharacteristics. In addition to leading to understanding of the principles oflocomotion in living things, the coupled oscillator model proposed in thisstudy is expected to lead to the creation of a legged robot that can select anenergy-efficient gait and transition to it spontaneously.

Interlimb neural connection is not required for gait transition in quadruped locomotion