[Submitted on 9 Sep 2026]
Title:Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics
View a PDF of the paper titled Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics, by Yucheng Tao and 10 other authors
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Abstract:Achieving biological-level running speeds has largely been pursued through advances in control algorithms, which improve the utilization of existing hardware. However, the ultimate speed limits remain governed by the underlying force and torque requirements of rapid locomotion, which are typically addressed through increased actuator capacity. Inspired by Huygens' coupled pendulums, we demonstrate that superior locomotion can emerge from principled exploitation of intrinsic dynamics rather than brute-force hardware scaling. Inter-limb inertial coupling redistributes energy across the gait cycle and reduces peak joint torque required for rapid periodic motion, thereby expanding the achievable speed without proportional increases in actuator capability. Incorporating hardware parameters as additional design variables further extends this analysis into a co-optimization framework, enabling the systematic utilization of inertial coupling in robot design. Guided by this framework, a quadruped robot achieves a running speed of 10.74 m/s (Froude number 21.4) and completes a 100-meter sprint in 12.2 seconds, representing the first legged robot to surpass 10 m/s. These results establish inertial coupling as an underlying mechanism governing high-speed legged locomotion and highlight its role in reducing force requirements, offering new insights into the design of agile robotic systems.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.13290 [cs.RO]
(or arXiv:2609.13290v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.13290
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Yucheng Tao [view email] [v1] Wed, 9 Sep 2026 10:58:20 UTC (15,178 KB)
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