The Role of Relative Spinal Motion during Feline Galloping for Speed Performance

Felines use their spinal column to increase their running speed at rapid locomotion performance. However, its motion profile behavior during fast gait locomotion has little attention. The goal of this study is to examine the relative spinal motion profile during two different galloping gait speeds. To understand this dynamic behavior trend, a dynamic motion of the feline animal (Felis catus domestica) was measured and analyzed by motion capture devices. Based on the experiments at two different galloping gaits, we observed a significant increase in speed (from 3.2 m·s−1 to 4.33 m·s−1) during the relative motion profile synchronization between the spinal (range: 118.86° to 168.00°) and pelvic segments (range: 46.35° to 91.13°) during the hindlimb stance phase (time interval: 0.495 s to 0.600 s). Based on this discovery, the relative angular speed profile was applied to understand the possibility that the role of the relative motion match during high speed locomotion generates bigger ground reaction force.

[1]  R. Alexander,et al.  A dynamic similarity hypothesis for the gaits of quadrupedal mammals , 2009 .

[2]  Ferdinando Cannella,et al.  Design of HyQ – a hydraulically and electrically actuated quadruped robot , 2011 .

[3]  R. Blickhan The spring-mass model for running and hopping. , 1989, Journal of biomechanics.

[4]  Gambaryan How Mammals Run , 1974 .

[5]  R. M. Walter,et al.  Ground forces applied by galloping dogs , 2007, Journal of Experimental Biology.

[6]  Utku Culha,et al.  Quadrupedal bounding with an actuated spinal joint , 2011, 2011 IEEE International Conference on Robotics and Automation.

[7]  George N. Saridis Advances in automation and robotics , 1985 .

[8]  Xiaolei Han,et al.  Trot Gait Design and CPG Method for a Quadruped Robot , 2014 .

[9]  Qinghua Liang,et al.  Quasi passive bounding of a quadruped model with articulated spine , 2012 .

[10]  D. F. Hoyt,et al.  Gait and the energetics of locomotion in horses , 1981, Nature.

[11]  J. Gál,et al.  Mammalian spinal biomechanics. I. Static and dynamic mechanical properties of intact intervertebral joints. , 1993, The Journal of experimental biology.

[12]  R. McN. Alexander,et al.  Three Uses for Springs in Legged Locomotion , 1990, Int. J. Robotics Res..

[13]  M. Sakaguchi,et al.  Realization of bounce gait in a quadruped robot with articular-joint-type legs , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[14]  A. English,et al.  The functions of the lumbar spine during stepping in the cat , 1980, Journal of morphology.

[15]  Kevin Blankespoor,et al.  BigDog, the Rough-Terrain Quadruped Robot , 2008 .

[16]  J. Vilensky,et al.  Trot-gallop gait transitions in quadrupeds , 1991, Physiology and Behavior.

[17]  Stefano Stramigioli,et al.  Parallel stiffness in a bounding quadruped with flexible spine , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[19]  Ronald F. Zernicke,et al.  Gait-related motor patterns and hindlimb kinetics for the cat trot and gallop , 1993, Experimental Brain Research.

[20]  M. Hildebrand Analysis of Asymmetrical Gaits , 1977 .

[21]  Reinhard Blickhan,et al.  A movement criterion for running. , 2002, Journal of biomechanics.

[22]  M. Hildebrand Motions of the Running Cheetah and Horse , 1959 .

[23]  N. C. Sharp,et al.  Timed running speed of a cheetah (Acinonyx jubatus) , 1997 .

[24]  Cyril Garnier,et al.  A 3D analysis of fore- and hindlimb motion during locomotion: Comparison of overground and ladder walking in rats , 2008, Behavioural Brain Research.

[25]  R. McGhee,et al.  On the stability properties of quadruped creeping gaits , 1968 .

[26]  Yasushi Fukuda,et al.  The gait control system of a quadruped walking vehicle , 1986, Adv. Robotics.

[27]  Ronald F. Zernicke,et al.  Modulation of limb dynamics in the swing phase of locomotion , 1985 .

[28]  M H Raibert,et al.  Trotting, pacing and bounding by a quadruped robot. , 1990, Journal of biomechanics.

[29]  Auke Jan Ijspeert,et al.  Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot , 2013, Int. J. Robotics Res..

[30]  R. Blickhan,et al.  Spring-mass running: simple approximate solution and application to gait stability. , 2005, Journal of theoretical biology.

[31]  B. Baufeld,et al.  Shaped metal deposition of 300M steel , 2011 .

[32]  S. Knapp How Animals Move , 1995 .

[33]  Shigeo Hirose,et al.  Dynamic and static fusion gait of a quadruped walking vehicle on a winding path , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[34]  J. Bertram,et al.  Motions of the running horse and cheetah revisited: fundamental mechanics of the transverse and rotary gallop , 2009, Journal of The Royal Society Interface.

[35]  R. F. Ker,et al.  Elastic structures in the back and their rôle in galloping in some mammals , 2009 .

[36]  Karl Frederick Leeser Locomotion experiments on a planar quadruped robot with articulated spine , 1996 .