A synergetic theory of quadrupedal gaits and gait transitions.

@article{Schner1990AST,
  title={A synergetic theory of quadrupedal gaits and gait transitions.},
  author={Gregor Sch{\"o}ner and Wei Jiang and Jennifer Kelso},
  journal={Journal of theoretical biology},
  year={1990},
  volume={142 3},
  pages={359-91}
}
We present a theoretical analysis of the patterns of interlimb co-ordination in the gaits of quadrupedal locomotion. Introducing as collective variables a set of relative phases that describe the co-ordination patterns, we classify gaits by their symmetry properties, which can be expressed as invariances under groups of transformations. We define dynamics of the collective variables, on which we impose symmetry restrictions. The stable observable gait patterns correspond to atractors of these… CONTINUE READING
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