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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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-06-01
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| Series: | Frontiers in Bioengineering and Biotechnology |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2022.807777/full |
| _version_ | 1811336214217752576 |
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| author | Mau Adachi Shinya Aoi Tomoya Kamimura Kazuo Tsuchiya Fumitoshi Matsuno |
| author_facet | Mau Adachi Shinya Aoi Tomoya Kamimura Kazuo Tsuchiya Fumitoshi Matsuno |
| author_sort | Mau Adachi |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-13T17:36:15Z |
| format | Article |
| id | doaj.art-8d47e07946d24d059102364bc662fbe5 |
| institution | Directory Open Access Journal |
| issn | 2296-4185 |
| language | English |
| last_indexed | 2024-04-13T17:36:15Z |
| publishDate | 2022-06-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj.art-8d47e07946d24d059102364bc662fbe52022-12-22T02:37:22ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852022-06-011010.3389/fbioe.2022.807777807777Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling StudyMau Adachi 0Shinya Aoi 1Tomoya Kamimura 2Kazuo Tsuchiya 3Fumitoshi Matsuno4Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, JapanDepartment of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, JapanDepartment of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, JapanDepartment of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, JapanDepartment of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, JapanQuadrupedal 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.https://www.frontiersin.org/articles/10.3389/fbioe.2022.807777/fullfore-aft asymmetryquadrupedal trottingtransverse dynamicsgait stabilitysimple model |
| spellingShingle | Mau Adachi Shinya Aoi Tomoya Kamimura Kazuo Tsuchiya Fumitoshi Matsuno Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study Frontiers in Bioengineering and Biotechnology fore-aft asymmetry quadrupedal trotting transverse dynamics gait stability simple model |
| title | Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study |
| title_full | Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study |
| title_fullStr | Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study |
| title_full_unstemmed | Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study |
| title_short | Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study |
| title_sort | fore aft asymmetry improves the stability of trotting in the transverse plane a modeling study |
| topic | fore-aft asymmetry quadrupedal trotting transverse dynamics gait stability simple model |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2022.807777/full |
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