Generalized Dog Motion Measurements to Support a Simple Model of Rotary Galloping Locomotion

Abstract

The gallop is the preferred gait by mammals for agile traversal through terrain. This motion is intrinsically complex as the feet are used individually and asymmetrically. Experimental data for the gallop are limited due the large workspace needed because of the gait's speed and long traversal. A generalized motion measurement strategy is adopted based on high-speed, motion capture with a reduced marker set and an emphasis on body and leg kinematics and with limited ground reaction force measurement. This allows for an extension of the workspace and allows for markers to be placed in locations with reduced tissue compliance. This is sufficient for capturing the principal motion and for making kinematic comparisons to a previously developed approximating impulse model framework. A series of gallops were measured in a large gait laboratory (18 m 2 principal working area) from three canine subjects (ranging from 8 to 24 kg) galloping down a 15 m runway. Normalized results show a correlation with motions suggested by the impulse model and are in keeping with insights from previous animal and legged robot studies.

Quantitative Method to Assess Acute Stress Related Behavior in Dogs by Using Motion Capture Technology

“…In one study [10], researchers fitted dogs' hind limbs with motion capture markers, and quantitatively diagnosed abnormal gaits. In another research project [11], caninegalloping locomotion, which cannot easily be observed because of spatial restrictions, was quantitatively evaluated using a motion capture system. In this study, researchers propose a measurement system based on a layout of motion capture markers.…”