ArticleJournal of experimental zoology. Part A, Ecological and integrative physiology2020
An extension to the collisional model of the energetic cost of support qualitatively explains trotting and the trot-canter transition.
Article in Journal of experimental zoology. Part A, Ecological and integrative physiology, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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10 citing papers in PubMed.
- Article
- Three Characteristics of Cheetah Galloping Improve Running Performance Through Spinal Movement: A Modeling Study.Frontiers in bioengineering and biotechnology · 2022Article
- Does the Heel's Dissipative Energetic Behavior Affect Its Thermodynamic Responses During Walking?Frontiers in bioengineering and biotechnology · 2022Article
- Competing Models of Work in Quadrupedal Walking: Center of Mass Work is Insufficient to Explain Stereotypical Gait.Frontiers in bioengineering and biotechnology · 2022Article
- Estimating Gaits of an Ancient Crocodile-Line Archosaur Through Trajectory Optimization, With Comparison to Fossil Trackways.Frontiers in bioengineering and biotechnology · 2021Article
- Minimalist analogue robot discovers animal-like walking gaits.Bioinspiration & biomimetics · 2020Article
- An extension to the collisional model of the energetic cost of support qualitatively explains trotting and the trot-canter transition.Journal of experimental zoology. Part A, Ecological and integrative physiology · 2020Article
- The Possibility of Zero Limb-Work Gaits in Sprawled and Parasagittal Quadrupeds: Insights from Linkages of the Industrial Revolution.Integrative organismal biology (Oxford, England) · 2020Article
- An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal.PLoS computational biology · 2019Article
- Article
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Abstract
The majority of terrestrial mammals adopt distinct, discrete gaits across their speed range. Though there is evidence that walk, trot and gallop may be selected at speeds consistent with minimizing metabolic cost (Hoyt and Taylor, 1981, Nature, 291, 239-240), the mechanical causes underlying these costs and their changes with speed are not well understood. In particular, the paired, near-simultaneous contacts of the trot is puzzling as it appears to demand a high mechanical work that could easily be avoided with distributed contacts, as with a "running walk" gait or "tolt." Here, a simple condition is derived-a ratio including the pitch moment of inertia and back length-for which trotting is energetically advantageous because it avoids the energetic consequences of pitching. Pitching could also be avoided if the impulses from the legs were orientated through the center of mass. A range of idealized gaits is considered that achieve this zero-pitch condition, and work minimization predicts a transition from trot to canter at intermediate speeds. This can be understood from the geometric principles of achieving a "pseudoelastic" collision with each impulse (Ruina et al., 2005, J Theoretical Biol, 14, 170-192). However, at high speeds, a transition back to trot is predicted that is not observed in nature.
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