2014 Volume 7 Issue 4 Pages 214-218
Multi-legged animals exhibit versatile gait patterns in response to their locomotion speed, body properties, and the environment. Quantitative measures are needed to evaluate the gait patterns, and several have been proposed so far. However, they could provide only limited information about the gait patterns, or they were only applicable for the evaluation of specific gait patterns. The authors propose a simple measure for evaluating gait patterns, focusing on the phase relationship among all legs. Unlike the previous measures, the proposed measure can be used for the quantitative evaluation of any gait pattern of animals having any number of legs. The authors demonstrate the applicability of the proposed measure by using hexapedal locomotion as an example.