An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal.

ABSTRACT: It is widely held that quadrupeds choose steady gaits that minimize their energetic cost of transport, but it is difficult to explore the entire range of possible footfall sequences empirically. We present a simple model of a quadruped that can spontaneously produce any of the thousands of planar footfall sequences available to quadrupeds. The inelastic, planar model consists of two point masses connected with a rigid trunk on massless legs. It requires only center of mass position, hind and forelimb proportions and a stride-length to speed relationship as input. Through trajectory optimization of a work and force-rate cost, and a large sample of random initial guesses, we provide evidence for the global optimality of symmetrical four-beat walking at low speeds and two beat running (trotti

SUBMITTER: Polet DT 

PROVIDER: S-EPMC6871776 | biostudies-literature | 2019 Nov

REPOSITORIES: biostudies-literature