Dynamical analysis of simple models with flexible body for bounding in quadrupeds

Tomoya Kamimura, Yuichi Ambe, Shinya Aoi, Kazuo Tsuchiya, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically, we first showed that the body flexibility reduces the GRF using a simple two legged model in sagittal plane. Next, to clarify the GRF reduction mechanism, we further simplified the model, which has only one leg. This allowed us to analytically obtain periodic solutions. Based on the solutions, we investigated the mechanism that the body flexibility reduces the GRF during quadrupedal bounding.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1449-1454
Number of pages6
ISBN (Electronic)9781509018970
DOIs
Publication statusPublished - 2017 Feb 6
Externally publishedYes
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: 2016 Oct 92016 Oct 12

Publication series

Name2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period16/10/916/10/12

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Artificial Intelligence
  • Control and Optimization
  • Human-Computer Interaction

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