Transfer of biological principles into the construction of quadruped walking machines

In the wide range of possible biological and technical solutions for legged terrestrial locomotion, quadrupeds represent a compromise between lightweight construction, dynamic stability, and usage of self-stabilizing effects and minimization of neural control. Several biomechanical features indicate that mammals form interesting and preferable paradigms for the construction of walking machines, even if their morphology and locomotory functions in some issues seem to be more complicated than that of the phylogenetically older amphibians and reptiles.