It is very important for quadruped walking machine to keep its stability in
high speed walking. It has been indicated that moment around the supporting
diagonal line of quadruped in trotting gait largely influences walking
stability. In this paper, moment around the supporting diagonal line of
quadruped in trotting gait is modeled and its effects on body attitude are
analyzed. The degree of influence varies with different initial stances of
quadruped and we get the optimal initial stance of quadruped in trotting gait
with maximal walking stability. Simulation results are presented. Keywords:
quadruped, trotting, attitude, walking stability