Robotic Harness for the Field Assessment of Galloping Gaits. Singh, S. P. N., Csonka, P. J., & Waldron, K. J. Oct 2007. doi abstract bibtex An important tool in clarifying various theories governing the dynamics of rapid quadrupedal gaits, such as the trot and gallop, is the measurement of body attitude. Such measurements are complicated in open field environments because of the large ranges and high data rates needed due to the speeds (7 m/s) and rapid shifts in dynamics present. To address this a lightweight inertial sensing harness is introduced with sensing design based on the KOLT robot. Its mass center is collocated with the subject so as to reduce dynamic bias. This work combines dynamic gait system identification and motion estimation and is demonstrated on a Labrador retriever (Canis lupus familiaris) through measurements of the gallop over long spans (20 m) and at data rates comparable with gait laboratories (400 Hz). The results are consistent with laboratory measurements, but seem to suggest a roll and yaw cross-coupling during gallop.
@CONFERENCE{spns.iros07,
author = {S. P. N. Singh and P. J. Csonka and K. J. Waldron},
title = {{Robotic Harness for the Field Assessment of Galloping Gaits}},
booktitle = {Proceedings of the International Conference on Intelligent Robots
and Systems ({IROS})},
year = {2007},
pages = {4247-4252},
month = {Oct},
abstract = {An important tool in clarifying various theories governing the dynamics
of rapid quadrupedal gaits, such as the trot and gallop, is the measurement
of body attitude. Such measurements are complicated in open field
environments because of the large ranges and high data rates needed
due to the speeds (7 m/s) and rapid shifts in dynamics present. To
address this a lightweight inertial sensing harness is introduced
with sensing design based on the KOLT robot. Its mass center is collocated
with the subject so as to reduce dynamic bias. This work combines
dynamic gait system identification and motion estimation and is demonstrated
on a Labrador retriever (Canis lupus familiaris) through measurements
of the gallop over long spans (20 m) and at data rates comparable
with gait laboratories (400 Hz). The results are consistent with
laboratory measurements, but seem to suggest a roll and yaw cross-coupling
during gallop.},
doi = {10.1109/IROS.2007.4399637},
fauthor = {Surya P. N. Singh and Paul J. Csonka and Kenneth J. Waldron}
}
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P. N.","Csonka, P. J.","Waldron, K. J."],"bibbaseid":"singh-csonka-waldron-roboticharnessforthefieldassessmentofgallopinggaits-2007","bibdata":{"bibtype":"conference","type":"conference","author":[{"firstnames":["S.","P.","N."],"propositions":[],"lastnames":["Singh"],"suffixes":[]},{"firstnames":["P.","J."],"propositions":[],"lastnames":["Csonka"],"suffixes":[]},{"firstnames":["K.","J."],"propositions":[],"lastnames":["Waldron"],"suffixes":[]}],"title":"Robotic Harness for the Field Assessment of Galloping Gaits","booktitle":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)","year":"2007","pages":"4247-4252","month":"Oct","abstract":"An important tool in clarifying various theories governing the dynamics of rapid quadrupedal gaits, such as the trot and gallop, is the measurement of body attitude. Such measurements are complicated in open field environments because of the large ranges and high data rates needed due to the speeds (7 m/s) and rapid shifts in dynamics present. To address this a lightweight inertial sensing harness is introduced with sensing design based on the KOLT robot. Its mass center is collocated with the subject so as to reduce dynamic bias. This work combines dynamic gait system identification and motion estimation and is demonstrated on a Labrador retriever (Canis lupus familiaris) through measurements of the gallop over long spans (20 m) and at data rates comparable with gait laboratories (400 Hz). The results are consistent with laboratory measurements, but seem to suggest a roll and yaw cross-coupling during gallop.","doi":"10.1109/IROS.2007.4399637","fauthor":"Surya P. N. Singh and Paul J. Csonka and Kenneth J. Waldron","bibtex":"@CONFERENCE{spns.iros07,\r\n author = {S. P. N. Singh and P. J. Csonka and K. J. Waldron},\r\n title = {{Robotic Harness for the Field Assessment of Galloping Gaits}},\r\n booktitle = {Proceedings of the International Conference on Intelligent Robots\r\n\tand Systems ({IROS})},\r\n year = {2007},\r\n pages = {4247-4252},\r\n month = {Oct},\r\n abstract = {An important tool in clarifying various theories governing the dynamics\r\n\tof rapid quadrupedal gaits, such as the trot and gallop, is the measurement\r\n\tof body attitude. Such measurements are complicated in open field\r\n\tenvironments because of the large ranges and high data rates needed\r\n\tdue to the speeds (7 m/s) and rapid shifts in dynamics present. To\r\n\taddress this a lightweight inertial sensing harness is introduced\r\n\twith sensing design based on the KOLT robot. Its mass center is collocated\r\n\twith the subject so as to reduce dynamic bias. 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