Abstract
The natural vibration modes similar to the gait patterns of quadrupedal walking exist in the rigid body link model which is modeled after quadrupedal frame system. We focused our efforts on the scapular and the pelvic motions of quadruped animal. Then, we investigated the relation between their motion and the natural vibration modes of quadrupedal frame system, using the rigid body link model. In addition, we showed that the natural frequency of the rigid body link model was close to quadrupedal walking frequency in the case that the physical characteristics of a horse were given to the rigid body link model.
