The Gaits of Bipedal and Quadrupedal Animals

@article{Alexander1984TheGO,
  title={The Gaits of Bipedal and Quadrupedal Animals},
  author={R. McN. Alexander},
  journal={The International Journal of Robotics Research},
  year={1984},
  volume={3},
  pages={49 - 59}
}
  • R. Alexander
  • Published 1 June 1984
  • Biology
  • The International Journal of Robotics Research
The gaits of reptiles, birds, and mammals are reviewed. It is shown that mammals of different sizes tend to move in dy namically similar fashion whenever their Froude numbers u2/gh are equal: here u is speed, g is the acceleration of free fall, and h is the height of the hip joint from the ground. The gaits of turtles and people are examined in detail. The gaits of turtles appear to reduce unwanted displacements (pitch, roll, etc.) to the minimum possible for animals with such slow muscles. The… 

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