A Critical Characteristic in the Transverse Galloping Pattern

Figure 2

Transverse galloping gait. (a) The equine transverse gallop from the literature [7]. The near side forelimb and hindlimb are indicated in black and the far side is indicated in white. (b) The transverse galloping motion of the model in this paper, which is the same as the real quadrupeds. For we employ the planner dynamic model in this paper, the right and left side of legs are not required for the simulation.

(a)

(b)