The DOI matches its Crossref record; 21 of the 21 references it cites were found in a registry or an index.
The Gaits of Bipedal and Quadrupedal Animals
Abstract
The gaits of reptiles, birds, and mammals are reviewed. It is shown that mammals of different sizes tend to move in dy namically similar fashion whenever their Froude numbers u 2/gh are equal: here u is speed, g is the acceleration of free fall, and h is the height of the hip joint from the ground. The gaits of turtles and people are examined in detail. The gaits of turtles appear to reduce unwanted displacements ( pitch, roll, etc.) to the minimum possible for animals with such slow muscles. The patterns of force exerted in human walking and running minimize the work required of the muscles at each speed. Much of the energy that would otherwise be neededfor running, by people and other large mammals, is saved by tendon elasticity.
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Cites
McMahon, T. (1973) · Science · doi:10.1126/science.179.4079.1201 · Cited by 1,175
Storage of elastic strain energy in muscle and other tissues
Alexander, R. M., & Bennet-Clark, H. C. (1977) · Nature · doi:10.1038/265114a0 · Cited by 851
Self-citationA dynamic similarity hypothesis for the gaits of quadrupedal mammals
Alexander, R. M., & Jayes, A. S. (1983) · Journal of Zoology · doi:10.1111/j.1469-7998.1983.tb04266.x · Cited by 637
Self-citationEstimates of speeds of dinosaurs
ALEXANDER, R. M. (1976) · Nature · doi:10.1038/261129a0 · Cited by 636
Self-citationOn the stability properties of quadruped creeping gaits
McGhee, R. (1968) · Mathematical Biosciences · doi:10.1016/0025-5564(68)90041-2 · Cited by 604
Allometry of the limb bones of mammals from shrews (Sorex) to elephant (Loxodonta)
Alexander, R. M., Jayes, A. S., Maloiy, G. M. O., & Wathuta, E. M. (1979) · Journal of Zoology · doi:10.1111/j.1469-7998.1979.tb03964.x · Cited by 422
Self-citationDynamic Tensile Properties of the Plantaris Tendon of Sheep (Ovis Aries)
Ker, R. F. (1981) · Journal of Experimental Biology · doi:10.1242/jeb.93.1.283 · Cited by 345
Analysis of Tetrapod Gaits: General Considerations and Symmetrical Gaits
Hildebrand, M. (1976) · Advances in Behavioral Biology · doi:10.1007/978-1-4757-0964-3_9 · Cited by 334
Ballistic walking: an improved model
Mochon, S., & McMahon, T. A. (1980) · Mathematical Biosciences · doi:10.1016/0025-5564(80)90070-x · Cited by 296
Analysis of Asymmetrical Gaits
Hildebrand, M. (1977) · Journal of Mammalogy · doi:10.2307/1379571 · Cited by 293
Cited by
Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot
Seok, S., Wang, A., Chuah, M. Y., Hyun, D. J., Lee, J., Otten, D. M., Lang, J. H., & Kim, S. (2015) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2014.2339013 · Cited by 517
Coupled nonlinear oscillators and the symmetries of animal gaits
Collins, J. J., & Stewart, I. N. (1993) · Journal of Nonlinear Science · doi:10.1007/bf02429870 · Cited by 502
Hyun, D. J., Seok, S., Lee, J., & Kim, S. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364914532150 · Cited by 269
Abbas, W., & Masip Rodo, D. (2019) · Sensors · doi:10.3390/s19153274 · Cited by 21
Metadata
- Authors
- Alexander, R. M.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1984-06
- Volume
- 3
- Issue
- 2
- Pages
- 49-59
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W1997576152
- Cited by
- 411
- References
- 21
- FWCI
- 2.62
- Type
- journal article
- Language
- en
- Open access
- closed
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Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
