Nanua P, Waldron K J
Power Systems Research Dept., General Motors R&D Center, Warren, Ml 48090, USA.
J Biomech Eng. 1995 Nov;117(4):466-73. doi: 10.1115/1.2794209.
In this paper, the dynamics of quadruped trot, gallop, and bound will be examined using a simple model for the quadruped. The body of the quadruped is modeled as a uniform bar and the legs are modeled by massless springs. It will be shown that symmetry can be used to study the locomotion of this system. Using symmetry, a technique will be developed to obtain periodic solutions for each of the gaits of the quadruped model. These periodic solutions will be computed at various speeds. The energy levels will be compared for each of the gaits. The exchange of energy between its different forms will be shown for different gaits. It will be shown that even without body flexibility, there are significant savings in energy due to gait transition from trot to gallop. The energy levels will be used to predict the trot-gallop transition speed. These results will be compared with the experimental results for horses and dogs.
在本文中，将使用一个简单的四足动物模型来研究四足动物的小跑、疾驰和跳跃的动力学。四足动物的身体被建模为一根均匀的杆，腿部由无质量的弹簧建模。将表明对称性可用于研究该系统的运动。利用对称性，将开发一种技术来获得四足动物模型每种步态的周期解。这些周期解将在不同速度下进行计算。将比较每种步态的能量水平。将展示不同步态下其不同形式之间的能量交换。将表明即使没有身体柔韧性，从小跑过渡到疾驰的步态转变也会显著节省能量。能量水平将用于预测小跑 - 疾驰转变速度。这些结果将与马和狗的实验结果进行比较。
