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This paper systematically decomposes a quadrupedal robot into bipeds torapidly generate walking gaits and then recomposes these gaits to obtainquadrupedal locomotion. We begin by decomposing the full-order, nonlinear andhybrid dynamics of a three-dimensional quadrupedal robot, including itscontinuous and discrete dynamics, into two bipedal systems that are subject toexternal forces. Using the hybrid zero dynamics (HZD) framework, gaits forthese bipedal robots can be rapidly generated (on the order of seconds) alongwith corresponding controllers. The decomposition is achieved in such a waythat the bipedal walking gaits and controllers can be composed to yield dynamicwalking gaits for the original quadrupedal robot --- the result is the rapidgeneration of dynamic quadruped gaits utilizing the full-order dynamics. Thismethodology is demonstrated through the rapid generation (3.96 seconds onaverage) of four stepping-in-place gaits and one diagonally symmetric amblinggait at 0.35 m/s on a quadrupedal robot --- the Vision 60, with 36 statevariables and 12 control inputs --- both in simulation and through outdoorexperiments. This suggested a new approach for fast quadrupedal trajectoryplanning using full-body dynamics, without the need for empirical modelsimplification, wherein methods from dynamic bipedal walking can be directlyapplied to quadrupeds.

From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation