The dynamics of quadrupedal locomotion.

  title={The dynamics of quadrupedal locomotion.},
  author={Marcus G. Pandy and Vijay Kumar and Necip Berme and Kenneth J. Waldron},
  journal={Journal of biomechanical engineering},
  volume={110 3},
This paper presents a dynamical analysis of quadrupedal locomotion, with specific reference to an adult Nubian goat. Measurements of ground reaction forces and limb motion are used to assess variations in intersegmental forces, joint moments, and instantaneous power for three discernible gaits: walking, running, and jumping. In each case, inertial effects of the torso are shown to dominate to the extent that lower-extremity contributions may be considered negligible. Footforces generated by the… CONTINUE READING

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