Analyzing Bounding and Galloping Using Simple Models. Waldron, K. J., Estremera, J., Csonka, P., & Singh, S. P. N. Journal of Mechanisms and Robotics, 1(011002):1-11, February, 2009. doi abstract bibtex This paper focuses on modeling the gait characteristics of a quadrupedal gallop. There have been a number of studies of the mechanics of the stance phase in which a foot is in contact with the ground. We seek to put these studies in the context of the stride, or overall motion cycle. The model used is theoretical, and is kept simple in the interest of transparency. It is compared to empirical data from observations of animals, and to data from experiments with robots such as our KOLT machine, and results from sophisticated simulation studies. Modeling of the energy loss inherent in the interaction between the system and the environment plays a key role in the study. Results include the discovery of a hidden symmetry in the gait pattern, usually regarded as being completely asymmetrical. Another result demonstrates that the velocities with which the two front feet impact and leave the ground are different, and similarly for the rear feet. The velocities of the foot pairs mirror each other. This is consistent with empirical observation, but is at variance with the assumption used almost universally when modeling stance. A further result elicits the importance of the pitch moment of inertia and other effects that make the mammalian architecture, in which the center of mass is closer to the shoulders than to the hips, beneficial.
@ARTICLE{spns.jmr.09,
author = {K. J. Waldron and J. Estremera and P. Csonka and S. P. N. Singh},
title = {Analyzing Bounding and Galloping Using Simple Models},
journal = {Journal of Mechanisms and Robotics},
year = {2009},
volume = {1},
pages = {1-11},
number = {011002},
month = feb,
abstract = {This paper focuses on modeling the gait characteristics of a quadrupedal
gallop. There have been a number of studies of the mechanics of the
stance phase in which a foot is in contact with the ground. We seek
to put these studies in the context of the stride, or overall motion
cycle. The model used is theoretical, and is kept simple in the interest
of transparency. It is compared to empirical data from observations
of animals, and to data from experiments with robots such as our
KOLT machine, and results from sophisticated simulation studies.
Modeling of the energy loss inherent in the interaction between the
system and the environment plays a key role in the study. Results
include the discovery of a hidden symmetry in the gait pattern, usually
regarded as being completely asymmetrical. Another result demonstrates
that the velocities with which the two front feet impact and leave
the ground are different, and similarly for the rear feet. The velocities
of the foot pairs mirror each other. This is consistent with empirical
observation, but is at variance with the assumption used almost universally
when modeling stance. A further result elicits the importance of
the pitch moment of inertia and other effects that make the mammalian
architecture, in which the center of mass is closer to the shoulders
than to the hips, beneficial.},
doi = {10.1115/1.2959095},
pdf = {spns.jmr.09.pdf}
}
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J.","Estremera, J.","Csonka, P.","Singh, S. P. N."],"bibbaseid":"waldron-estremera-csonka-singh-analyzingboundingandgallopingusingsimplemodels-2009","bibdata":{"bibtype":"article","type":"article","author":[{"firstnames":["K.","J."],"propositions":[],"lastnames":["Waldron"],"suffixes":[]},{"firstnames":["J."],"propositions":[],"lastnames":["Estremera"],"suffixes":[]},{"firstnames":["P."],"propositions":[],"lastnames":["Csonka"],"suffixes":[]},{"firstnames":["S.","P.","N."],"propositions":[],"lastnames":["Singh"],"suffixes":[]}],"title":"Analyzing Bounding and Galloping Using Simple Models","journal":"Journal of Mechanisms and Robotics","year":"2009","volume":"1","pages":"1-11","number":"011002","month":"February","abstract":"This paper focuses on modeling the gait characteristics of a quadrupedal gallop. There have been a number of studies of the mechanics of the stance phase in which a foot is in contact with the ground. We seek to put these studies in the context of the stride, or overall motion cycle. The model used is theoretical, and is kept simple in the interest of transparency. It is compared to empirical data from observations of animals, and to data from experiments with robots such as our KOLT machine, and results from sophisticated simulation studies. Modeling of the energy loss inherent in the interaction between the system and the environment plays a key role in the study. Results include the discovery of a hidden symmetry in the gait pattern, usually regarded as being completely asymmetrical. Another result demonstrates that the velocities with which the two front feet impact and leave the ground are different, and similarly for the rear feet. The velocities of the foot pairs mirror each other. This is consistent with empirical observation, but is at variance with the assumption used almost universally when modeling stance. A further result elicits the importance of the pitch moment of inertia and other effects that make the mammalian architecture, in which the center of mass is closer to the shoulders than to the hips, beneficial.","doi":"10.1115/1.2959095","pdf":"spns.jmr.09.pdf","bibtex":"@ARTICLE{spns.jmr.09,\r\n author = {K. J. Waldron and J. Estremera and P. Csonka and S. P. N. Singh},\r\n title = {Analyzing Bounding and Galloping Using Simple Models},\r\n journal = {Journal of Mechanisms and Robotics},\r\n year = {2009},\r\n volume = {1},\r\n pages = {1-11},\r\n number = {011002},\r\n month = feb,\r\n abstract = {This paper focuses on modeling the gait characteristics of a quadrupedal\r\n\tgallop. There have been a number of studies of the mechanics of the\r\n\tstance phase in which a foot is in contact with the ground. We seek\r\n\tto put these studies in the context of the stride, or overall motion\r\n\tcycle. The model used is theoretical, and is kept simple in the interest\r\n\tof transparency. It is compared to empirical data from observations\r\n\tof animals, and to data from experiments with robots such as our\r\n\tKOLT machine, and results from sophisticated simulation studies.\r\n\tModeling of the energy loss inherent in the interaction between the\r\n\tsystem and the environment plays a key role in the study. Results\r\n\tinclude the discovery of a hidden symmetry in the gait pattern, usually\r\n\tregarded as being completely asymmetrical. Another result demonstrates\r\n\tthat the velocities with which the two front feet impact and leave\r\n\tthe ground are different, and similarly for the rear feet. The velocities\r\n\tof the foot pairs mirror each other. This is consistent with empirical\r\n\tobservation, but is at variance with the assumption used almost universally\r\n\twhen modeling stance. A further result elicits the importance of\r\n\tthe pitch moment of inertia and other effects that make the mammalian\r\n\tarchitecture, in which the center of mass is closer to the shoulders\r\n\tthan to the hips, beneficial.},\r\n doi = {10.1115/1.2959095},\r\n pdf = {spns.jmr.09.pdf}\r\n}\r\n\r\n","author_short":["Waldron, K. J.","Estremera, J.","Csonka, P.","Singh, S. P. N."],"key":"spns.jmr.09","id":"spns.jmr.09","bibbaseid":"waldron-estremera-csonka-singh-analyzingboundingandgallopingusingsimplemodels-2009","role":"author","urls":{},"downloads":0,"html":""},"bibtype":"article","biburl":"http://robotics.itee.uq.edu.au/~spns/pubcache/SpnS_PubList.bib","downloads":0,"keywords":[],"search_terms":["analyzing","bounding","galloping","using","simple","models","waldron","estremera","csonka","singh"],"title":"Analyzing Bounding and Galloping Using Simple Models","title_words":["analyzing","bounding","galloping","using","simple","models"],"year":2009,"dataSources":["zNCf6MTxXnpkNN9Zz"]}