Positions of pivot points in quadrupedal locomotion: limbs and trunk global control in four different dog breeds

Andrada, Emanuel; Hildebrandt, Gregor; Witte, Hartmut; Fischer, Martin S.

doi:10.1101/2022.12.09.519601

Cited by 3 publications

(3 citation statements)

References 65 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Analogous to the VPP model, an intersection point of the GRFs above the CoM could also be found in various experimental studies for human walking [ 5 , 10 – 14 ], and even for some animals such as dogs [ 5 , 15 ], macaques [ 16 ] and quails [ 17 ]. In those experiments, the GRFs point to the VPP with a small spread.…”

Section: Introductionmentioning

confidence: 78%

Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

et al. 2023

View full text Add to dashboard Cite

Bipedal walking while keeping the upper body upright is a complex task. One strategy to cope with this task is to direct the ground reaction forces toward a point above the centre of mass of the whole body, called virtual pivot point (VPP). This behaviour could be observed in various experimental studies for human and animal walking, but not for the humanoid robot LOLA. The question arose whether humans still show a VPP when walking like LOLA. For this purpose, ten participants imitated LOLA in speed, posture, and mass distribution (LOLA-like walking). It could be found that humans do not differ from LOLA in spatio-temporal parameters for the LOLA-like walking, in contrast to upright walking with preferred speed. Eight of the participants show a VPP in all conditions ( R 2 > 0.90 ± 0.09), while two participants had no VPP for LOLA-like walking ( R 2 < 0.52). In the latter case, the horizontal ground reaction forces are not balanced around zero in the single support phase, which is presumably the key variable for the absence of the VPP.

show abstract

Section: Introductionmentioning

confidence: 78%

Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

et al. 2023

View full text Add to dashboard Cite

show abstract

“…Skipping may represent a preferred motor pattern for the bipedal macaques. Recent findings indicate that quadrupeds walk and trot with VPPs above the hip and the scapula (Andrada et al, 2023). It remains thus intriguing, if the differences in VPP heights depicted here between trailing and leading limbs holds for quadrupedal gallop, or they represent an adaptation to bipedal skipping.…”

Section: Comparison Of Skipping In Human and Macaquementioning

confidence: 82%

Skipping without and with hurdles in bipedal macaque: Global mechanics

Blickhan,

Andrada,

Hirasaki

et al. 2023

Preprint

View full text Add to dashboard Cite

Macaques trained to perform bipedally used running gaits across a wide range of speed. At higher speeds they preferred unilateral skipping (galloping). The same asymmetric stepping pattern was used while hurdling across two low obstacles placed at the distance of a stride within our experimental track. In bipedal macaques during skipping, we expected a differential use of the trailing and leading legs. The present study investigated global properties of the effective and virtual leg, the location of the virtual pivot point (VPP), and the energetics of the center of mass (CoM), with the aim of clarifying the differential leg operation during skipping in bipedal macaques. Macaques skipping displayed minor double support and aerial phases during one stride. Asymmetric leg use indicated by differences in leg kinematics. Axial damping and tangential leg work did not influence the indifferent peak ground reaction forces and impulses, but resulted in a lift of the CoM during contact of the leading leg. The aerial phase was largely due to the use of the double support. Hurdling amplified the differences. Here, higher ground reaction forces combined with increased double support provided the vertical impulse to overcome the hurdles. Following CoM dynamics during a stride skipping and hurdling represented bouncing gaits. The elevation of the VPP of bipedal macaques resembled that of human walking and running in the trailing and leading phases, respectively. Due to anatomical restrictions, macaque unilateral skipping differs from that of humans, and may represent an intermediate gait between grounded and aerial running.

show abstract

“…This point is called virtual pivot point (VPP) [1]. Until now, in experimental studies a VPP could always be observed: for human walking [1][2][3], human running [4], and even in animals like dogs [1,5], macaques [6], and quails [7].…”

Section: Introductionmentioning

confidence: 99%

Virtual pivot point: Always experimentally observed in human walking?

Vielemeyer,

Schreff,

Hochstein

et al. 2023

PLoS ONE

View full text Add to dashboard Cite

A main challenge in human walking is maintaining stability. One strategy to balance the whole body dynamically is to direct the ground reaction forces toward a point above the center of mass, called virtual pivot point (VPP). This strategy could be observed in various experimental studies for human and animal gait. A VPP was also observed when VPP input variables like center of mass or ground reaction forces were perturbed. In this study, the kinetic and kinematic consequences of a center of pressure manipulation and the influence on the VPP are investigated. Thus, eleven participants walked with manipulated center of pressure (i.e. barefoot, backwards, with a rigid sole, with stilts, and in handstand compared to shoe walking). In all conditions a VPP could be observed, only one participant showed no VPP in handstand walking. The vertical VPP position only differs between shoe walking and rigid sole walking, there are no significant differences between the conditions in the horizontal VPP position and the spread around the VPP. However, it is conceivable that for more severe gait changes, walking without VPP could be observed. To further analyze this issue, the authors provide a VPP calculation tool for testing data regarding the existence of the VPP.

show abstract

Positions of pivot points in quadrupedal locomotion: limbs and trunk global control in four different dog breeds

Cited by 3 publications

References 65 publications

Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

Skipping without and with hurdles in bipedal macaque: Global mechanics

Virtual pivot point: Always experimentally observed in human walking?

Contact Info

Product

Resources

About