Dynamic Model of a Compliant Quadruped Trunk Under Large Deflections

Database DescriptionThis database accompanies the study that develops a dynamic model for flexible systems undergoing large deflections, particularly relevant to quadruped robots with both rigid and compliant components. It includes both experimental and simulation results for three different configurations: Vibration without additional mass: analyzes the behavior of the flexible system without any mass attached to the free end of the beam. Vibration with hip mass: examines the dynamic effects of attaching an additional mass to a rigid bar connected to the beam’s free end, representing the mass of the robot’s hip. Vibration with leg mass: evaluates the influence of an added mass representing a leg, and its impact on the system’s quasi-resonant frequency. These datasets support validation of the proposed model and contribute to the development of control strategies aimed at achieving energy-efficient galloping in quadrupedal robots.