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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