title: A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion.
abstract: Quadrupeds vary their gaits in accordance with their locomotion speed. Such gait transitions exhibit hysteresis. However, the underlying mechanism for this hysteresis remains largely unclear. It has been suggested that gaits correspond to attractors in their dynamics and that gait transitions are non-equilibrium phase transitions that are accompanied by a loss in stability. In the present study, we used a robotic platform to investigate the dynamic stability of gaits and to clarify the hysteresis mechanism in the walk-trot transition of quadrupeds. Specifically, we used a quadruped robot as the body mechanical model and an oscillator network for the nervous system model to emulate dynamic locomotion of a quadruped. Experiments using this robot revealed that dynamic interactions among the robot mechanical system, the oscillator network, and the environment generate walk and trot gaits depending on the locomotion speed. In addition, a walk-trot transition that exhibited hysteresis was observed when the locomotion speed was changed. We evaluated the gait changes of the robot by measuring the locomotion of dogs. Furthermore, we investigated the stability structure during the gait transition of the robot by constructing a potential function from the return map of the relative phase of the legs and clarified the physical characteristics inherent to the gait transition in terms of the dynamics.
authors: Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 6068501, Japan. shinya_aoi@kuaero.kyoto-u.ac.jp
authors: Shinya
authors: S
authors: Aoi
authors: Daiki
authors: D
authors: Katayama
authors: Soichiro
authors: S
authors: Fujiki
authors: Nozomi
authors: N
authors: Tomita
authors: Tetsuro
authors: T
authors: Funato
authors: Tsuyoshi
authors: T
authors: Yamashita
authors: Kei
authors: K
authors: Senda
authors: Kazuo
authors: K
authors: Tsuchiya
mesh_terms: D000818:Animals; D001696:Biomechanical Phenomena; D004285:Dogs / Q000502:physiology*; D005684:Gait / Q000502:physiology*; D008124:Locomotion / Q000502:physiology*; D008962:Models, Theoretical; D012371:Robotics / Q000379:methods*
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