An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal.

It is widely held that quadrupeds choose steady gaits that minimize their energetic cost of transport, but it is difficult to explore the entire range of possible footfall sequences empirically. We present a simple model of a quadruped that can spontaneously produce any of the thousands of planar footfall sequences available to quadrupeds. The inelastic, planar model consists of two point masses connected with a rigid trunk on massless legs. It requires only center of mass position, hind and forelimb proportions and a stride-length to speed relationship as input. Through trajectory optimization of a work and force-rate cost, and a large sample of random initial guesses, we provide evidence for the global optimality of symmetrical four-beat walking at low speeds and two beat running (trotting) at intermediate speeds. Using input parameters based on measurements in dogs (Canis lupus familiaris), the model predicts the correct phase offset in walking and a realistic walk-trot transition speed. It also spontaneously reproduces the double-hump ground reaction force profile observed in walking, and the smooth single-hump profile observed in trotting. Actuation appears elastic, despite the model's lack of springs, suggesting that spring-like locomotory behaviour emerges as an optimal tradeoff between work minimization and force-rate penalties.