Biomechanics of quadrupedal walking: how do four-legged animals achieve inverted pendulum-like movements?

@article{Griffin2004BiomechanicsOQ,
  title={Biomechanics of quadrupedal walking: how do four-legged animals achieve inverted pendulum-like movements?},
  author={Timothy M Griffin and Russell P Main and Claire T. Farley},
  journal={The Journal of experimental biology},
  year={2004},
  volume={207 Pt 20},
  pages={3545-58}
}
Walking involves a cyclic exchange of gravitational potential energy and kinetic energy of the center of mass. Our goal was to understand how the limbs of walking quadrupeds coordinate the vertical movements of the fore and hind quarters to produce these inverted pendulum-like movements. We collected kinematic and ground reaction force data from dogs walking over a range of speeds. We found that the fore and hind quarters of dogs behaved like two independent bipeds, each vaulting up and over… CONTINUE READING
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