Effects of Initial Stance of Quadruped Trotting on Walking Stability
  It is very important for quadruped walking machine to keep its stability in high speed walking. It has been indicated that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. In this paper, moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude are analyzed. The degree of influence varies with different initial stances of quadruped and we get the optimal initial stance of quadruped in trotting gait with maximal walking stability. Simulation results are presented. Keywords: quadruped, trotting, attitude, walking stability. 
Dongqing He and Peisun Ma