ArticleScientific reports2015
A simple rule for quadrupedal gait generation determined by leg loading feedback: a modeling study.
Article in Scientific reports, 2015. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 24 papers.
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Who cites it
24 citing papers in PubMed.
- Article
- Foot trajectory as a key factor for diverse gait patterns in quadruped robot locomotion.Scientific reports · 2025Article
- Review
- Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains.Nature communications · 2024Article
- Variability of gait characteristics in lameness elephant.The Journal of veterinary medical science · 2023Article
- Competing Models of Work in Quadrupedal Walking: Center of Mass Work is Insufficient to Explain Stereotypical Gait.Frontiers in bioengineering and biotechnology · 2022Article
- Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running.Proceedings. Biological sciences · 2021Article
- Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking.Frontiers in neurorobotics · 2021Article
- AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities.Frontiers in robotics and AI · 2021Article
- Brainless Walking: Animal Gaits Emerge From an Actuator Characteristic.Frontiers in robotics and AI · 2021Article
- Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback.Frontiers in robotics and AI · 2021Article
- Fast and Slow Adaptations of Interlimb CoordinationFrontiers in robotics and AI · 2021Article
- Generation of Direct-, Retrograde-, and Source-Wave Gaits in Multi-Legged Locomotion in a Decentralized Manner via Embodied Sensorimotor Interaction.Frontiers in neural circuits · 2021Article
- Locomotion Control With Frequency and Motor Pattern Adaptations.Frontiers in neural circuits · 2021Article
- Minimalist analogue robot discovers animal-like walking gaits.Bioinspiration & biomimetics · 2020Article
- Flexible Spiking CPGs for Online Manipulation During Hexapod Walking.Frontiers in neurorobotics · 2020Article
- Programmable coupled oscillators for synchronized locomotion.Nature communications · 2019Article
- Neuromusculoskeletal model that walks and runs across a speed range with a few motor control parameter changes based on the muscle synergy hypothesis.Scientific reports · 2019Article
- Gait Generation and Its Energy Efficiency Based on Rat Neuromusculoskeletal Model.Frontiers in neuroscience · 2019Article
- Quadrupedal locomotor simulation: producing more realistic gaits using dual-objective optimization.Royal Society open science · 2018Article
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Authors and funding
3 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
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. Additionally, all gaits transitioned according to speed, as seen in animals. We have therefore hypothesized that various gaits derive from a trot because of posture control through leg loading feedback. The body tilt on the two support legs of each diagonal pair during trotting was classified into three types (level, tilted up, or tilted down) according to speed. The load difference between the two legs led to the phase difference between their CPGs via the loading feedbacks, resulting in nine gaits (3(2): three tilts to the power of two diagonal pairs) including the aforementioned.
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