抄録
Most of multi-legged robots have same structure for each leg. However, thoroughbred horses have each different natural frequency in fore and hind limbs. In order to realize locomotion, each limb movement was required to have a same frequency. The aim of this study was to clarify frequency control mechanisms in equine limbs during swing phase. An energy-based analysis was carried out using variable moment pendulum model to all limbs. Our results show that the control of the energy change caused by the pendulum extension/contraction and rotational motion compensate for asymmetric dynamic differences between fore and hind limbs.
