Modeling of Quadrupedal Running Gaits

Waldron, K

Modeling of Quadrupedal Running Gaits

Waldron, K

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Publisher:: World Scientific
Publication Type:: Conference Proceeding
Citation:: Proceedings of CLAWAR 2011, 2011, pp. 589 - 598 (10)
Issue Date:: 2011-07-01

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Field	Value	Language
dc.contributor.author	Waldron, K https://orcid.org/0000-0002-7910-4907	en_US
dc.contributor.editor	Bidaud, P	en_US
dc.contributor.editor	Tokhi, MO	en_US
dc.date	2011-09-06	en_US
dc.date.issued	2011-07-01	en_US
dc.identifier.citation	Proceedings of CLAWAR 2011, 2011, pp. 589 - 598 (10)	en_US
dc.identifier.isbn	978-981-4458-07-8	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120444
dc.description.abstract	In this work we correct a previous ballistic model of the gallop cycle that could not be reconciled with experimental evidence. One of the assumptions on which that model was based proved to be incorrect. Dropping that assumption and taking a different approach to the development of the governing equations, we are able to develop expressions for the durations between footfalls during the stride cycle that are consistent with available experimental data. We also suggest a reason why some fast running animals use a rotary gallop, rather than a transverse gallop.	en_US
dc.publisher	World Scientific	en_US
dc.relation.ispartof	Proceedings of CLAWAR 2011	en_US
dc.relation.ispartof	International Conference on Climbing and Walking Robots (CLAWAR)	en_US
dc.relation.isbasedon	10.1142/9789814374286_0070	en_US
dc.title	Modeling of Quadrupedal Running Gaits	en_US
dc.type	Conference Proceeding
utslib.location.activity	University Pierre et Marie Curie, Paris, France	en_US
utslib.for	091302 Automation and Control Engineering	en_US
utslib.for	091399 Mechanical Engineering not elsewhere classified	en_US
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.consider-herdc	true	en_US
pubs.finish-date	2011-09-08	en_US
pubs.start-date	2011-09-06	en_US

Abstract:

In this work we correct a previous ballistic model of the gallop cycle that could not be reconciled with experimental evidence. One of the assumptions on which that model was based proved to be incorrect. Dropping that assumption and taking a different approach to the development of the governing equations, we are able to develop expressions for the durations between footfalls during the stride cycle that are consistent with available experimental data. We also suggest a reason why some fast running animals use a rotary gallop, rather than a transverse gallop.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/120444