Generalized Dog Motion Measurements to Support a Simple Model of Rotary Galloping Locomotion

Generalized Dog Motion Measurements to Support a Simple Model of Rotary Galloping Locomotion. Singh, S. P. N. & Waldron, K. J. 2009.
doi abstract bibtex

The gallop is the preferred gait by mammals for agile traversal through terrain. This motion is intrinsically complex as the feet are used individually and asymmetrically. Experimental data for the gallop are limited due the large workspace needed because of the gait's speed and long traversal. A generalized motion measurement strategy is adopted based on high-speed, motion capture with a reduced marker set and an emphasis on body and leg kinematics and with limited ground reaction force measurement. This allows for an extension of the workspace and allows for markers to be placed in locations with reduced tissue compliance. This is sufficient for capturing the principal motion and for making kinematic comparisons to a previously developed approximating impulse model framework. A series of gallops were measured in a large gait laboratory (18 m2 principal working area) from three canine subjects (ranging from 8 to 24 kg) galloping down a 15 m runway. Normalized results show a correlation with motions suggested by the impulse model and are in keeping with insights from previous animal and legged robot studies.

@CONFERENCE{clawar.2009.dogmotion,
  author = {S. P. N. Singh and K. J. Waldron},
  title = {Generalized Dog Motion Measurements to Support a Simple Model of
	Rotary Galloping Locomotion},
  booktitle = {Mobile Robotics: Solutions and Challenges},
  year = {2009},
  pages = {741-748},
  abstract = {The gallop is the preferred gait by mammals for agile traversal through
	terrain. This motion is intrinsically complex as the feet are used
	individually and asymmetrically. Experimental data for the gallop
	are limited due the large workspace needed because of the gait's
	speed and long traversal. A generalized motion measurement strategy
	is adopted based on high-speed, motion capture with a reduced marker
	set and an emphasis on body and leg kinematics and with limited ground
	reaction force measurement. This allows for an extension of the workspace
	and allows for markers to be placed in locations with reduced tissue
	compliance. This is sufficient for capturing the principal motion
	and for making kinematic comparisons to a previously developed approximating
	impulse model framework. A series of gallops were measured in a large
	gait laboratory (18 m2 principal working area) from three canine
	subjects (ranging from 8 to 24 kg) galloping down a 15 m runway.
	Normalized results show a correlation with motions suggested by the
	impulse model and are in keeping with insights from previous animal
	and legged robot studies.},
  doi = {10.1142/9789814291279_0091},
  pdf = {clawar.2009.dogmotion.pdf}
}

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