While the number of theoretically possible gaits for animals or legged vehicles is very large, only a few of these are actually employed in natural legged locomotion. The paper presents a condition, called regular realizability, which is advanced as an explanation of the gait preferences exhibited by animals. It is found that this condition accounts for all observed biped gaits and all but two quadruped gaits. Some general theoretical results which should permit comparable studies of insect and arachnid locomotion are also presented. (Author)
Some Properties of Regularly Realizable Gait Matrices
1972
17 pages
Report
Keine Angabe
Englisch
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