Some active spine control strategies make a simulated quadruped look more natural to human viewers, but all use more energy than a rigid spine.
Motions of the running horse and cheetah revisited: Fundamen- tal mechanics of the transverse and rotary gallop
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Quadrupedal Spine Control Strategies: Exploring Correlations Between System Dynamic Responses and Human Perspectives
Some active spine control strategies make a simulated quadruped look more natural to human viewers, but all use more energy than a rigid spine.