The Smooth Transition From Many-Legged to Bipedal Locomotion-Gradual Leg Force Reduction and its Impact on Total Ground Reaction Forces, Body Dynamics and Gait Transitions.

ABSTRACT: Most terrestrial animals move with a specific number of propulsive legs, which differs between clades. The reasons for these differences are often unknown and rarely queried, despite the underlying mechanisms being indispensable for understanding the evolution of multilegged locomotor systems in the animal kingdom and the development of swiftly moving robots. Moreover, when speeding up, a range of species change their number of propulsive legs. The reasons for this behaviour have proven equally elusive. In animals and robots, the number of propulsive legs also has a decisive impact on the movement dynamics of the centre of mass. Here, I use the leg force interference model to elucidate these issues by introducing gradually declining ground reaction forces in locomotor apparatuses with vary

SUBMITTER: Weihmann T 

PROVIDER: S-EPMC8855104 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature