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： Today ' s robots are cont ， rol 玉 ed typically by ' 二 highly precise cont ． rol algorithms " ： their joint angle trajectories are determiIled accurately at ally time with vast amount of eomputation ． This approach ， however， causes serious problems ， particularly in terlns o9 energy eMciency and adaptability ξ On the other hand ， recently ， another extreme approach has bcen gaining a lot of at． t． ellt． ion、 A good iIlstantiatioIl is the passive dynamic walker ． One of the crucial points is that this a 正 ) proach has shed light n the fact that control system is not everythilLg ． More speci 丘cally ， it is of highly importa ， nce to expl it int ， rinsic dy ． namics of a roboVs body ， leading t " cheap " centrol algorithms ， In light of thesc facts， this paper intensivel ， y deals with how ｛ he body dynamics influences the be止 Lavior in the quadruped trasition as a practical example ． Keywords ； Quadruped − robot ， Changing Body st ・ iffness ， Gait 厂 1beansition

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