Abstract
The natural vibration modes which are similar to the gait pattern of quadrupedal walking are generated using the rigid body link model which are similar to quadrupeds' frame system. The natural frequency of the rigid body link model is close to quadrupeds' walking frequency when the physical characteristic of a horse or a cheetah is given to the rigid body link model. This paper deals with the possibilities that these quadrupeds realize effective and high-speed walking by using the natural vibration.
