Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study

Quadrupedal mammals have fore-aft asymmetry in their body structure, which affects their walking and running dynamics. However, the effects of asymmetry, particularly in the transverse plane, remain largely unclear. In this study, we examined the effects of fore-aft asymmetry on quadrupedal trotting...

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Bibliographic Details
Published in:Frontiers in bioengineering and biotechnology 2022-06, Vol.10, p.807777-807777
Main Authors: Adachi , Mau, Aoi , Shinya, Kamimura , Tomoya, Tsuchiya , Kazuo, Matsuno, Fumitoshi
Format: Article
Language:English
Subjects:
Bioengineering and Biotechnology
fore-aft asymmetry
gait stability
quadrupedal trotting
simple model
transverse dynamics
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Summary:Quadrupedal mammals have fore-aft asymmetry in their body structure, which affects their walking and running dynamics. However, the effects of asymmetry, particularly in the transverse plane, remain largely unclear. In this study, we examined the effects of fore-aft asymmetry on quadrupedal trotting in the transverse plane from a dynamic viewpoint using a simple model, which consists of two rigid bodies connected by a torsional joint with a torsional spring and four spring legs. Specifically, we introduced fore-aft asymmetry into the model by changing the physical parameters between the fore and hind parts of the model based on dogs, which have a short neck, and horses, which have a long neck. We numerically searched the periodic solutions for trotting and investigated the obtained solutions and their stability. We found that three types of periodic solutions with different foot patterns appeared that depended on the asymmetry. Additionally, the asymmetry improved gait stability. Our findings improve our understanding of gait dynamics in quadrupeds with fore-aft asymmetry.
ISSN:2296-4185
2296-4185
DOI:10.3389/fbioe.2022.807777