Gait Transition between Walk and Trot in an Anatomical Robot Model Reproducing Muscle and Tendon Structures of a Horse’s Hindlimb

Abstract

We built a robot model emulating tendon structure of horse hindlimb. In the walking experiment, the robot emerged a limb trajectory with a smooth transition between swing phase and stance phase simply by swinging the hip joint with a motor. In addition, the transition from a walk gait to a trot gait was observed by changing the gait cycle.