The Significance of Leg Mass in Modeling Quadrupedal Running Gaits
نویسندگان
چکیده
In modeling running gaits of biological and robotic quadrupeds, leg mass is often neglected. Analysis of the system angular momentum in a biological model and a robot model indicates that including leg mass is significant in capturing the roll motion in trotting and pacing. Leg mass has a more significant effect on the pitch motion in bounding and is most critical in accurately capturing the dynamics of galloping.
منابع مشابه
A simple rule for quadrupedal gait generation determined by leg loading feedback: a modeling study
We discovered a specific rule for generating typical quadrupedal gaits (the order of the movement of four legs) through a simulated quadrupedal locomotion, in which unprogrammed gaits (diagonal/lateral sequence walks, left/right-lead canters, and left/right-lead transverse gallops) spontaneously emerged because of leg loading feedbacks to the CPGs hard-wired to produce a default trot. Additiona...
متن کاملExoskeletal Strain: Evidence for a Trot–gallop Transition in Rapidly Running Ghost Crabs
Equivalent gaits may be present in pedestrians that differ greatly in leg number, leg design and skeletal type. Previous studies on ghost crabs found that the transition from a slow to a fast run may resemble the change from a trot to a gallop in quadrupedal mammals. One indication of the trot–gallop gait change in quadrupedal mammals is a distinct alteration in bone strain. To test the hypothe...
متن کاملPreliminary Energetics of Tripedal and Quadrupedal Gaits Using the GARP-4 Robot
Changes in pedality can occur in animals due to injury, congenital defects, or behaviour. Here, an attempt is made to reproduce similar conditions on a nominally quadrupedal robot upon losing functionality in one leg, rendering it tripedal. The change in walking speed and energy efficiency are examined for both quadrupedal amble and basic tripedal walking gaits.
متن کاملA comparative collision-based analysis of human gait.
This study compares human walking and running, and places them within the context of other mammalian gaits. We use a collision-based approach to analyse the fundamental dynamics of the centre of mass (CoM) according to three angles derived from the instantaneous force and velocity vectors. These dimensionless angles permit comparisons across gait, species and size. The collision angle Φ, which ...
متن کاملQuadrupedal gaits in hexapod animals - inter-leg coordination in free-walking adult stick insects.
The analysis of inter-leg coordination in insect walking is generally a study of six-legged locomotion. For decades, the stick insect Carausius morosus has been instrumental for unravelling the rules and mechanisms that control leg coordination in hexapeds. We analysed inter-leg coordination in C. morosus that freely walked on straight paths on plane surfaces with different slopes. Consecutive ...
متن کامل