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The results reveal that the spinal structure (one ADJ and several passive driving joints) is closely related to the performance parameters. Increasing the number of passive driving joints can improve the velocity and energy efficiency. This structure may have significant guidance for designing a quadruped robot.<\/jats:p>","DOI":"10.1017\/s0263574722000674","type":"journal-article","created":{"date-parts":[[2022,7,21]],"date-time":"2022-07-21T06:28:34Z","timestamp":1658384914000},"page":"3911-3929","source":"Crossref","is-referenced-by-count":9,"title":["Effects of spinal structure on quadruped bounding gait"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1613-4017","authenticated-orcid":false,"given":"Chen","family":"Lei","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chen","family":"Dongliang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dong","family":"Wei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,7,21]]},"reference":[{"key":"S0263574722000674_ref4","doi-asserted-by":"crossref","unstructured":"[4] Park, H.-W. , Park, S. 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