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The Gaits of Bipedal and Quadrupedal Animals

Department of Pure and Applied Zoology University of Leeds Leeds LS2 9JT, U.K.

The gaits of reptiles, birds, and mammals are reviewed. It is shown that mammals of different sizes tend to move in dy namically similar fashion whenever their Froude numbers u²/gh are equal: here u is speed, g is the acceleration of free fall, and h is the height of the hip joint from the ground. The gaits of turtles and people are examined in detail. The gaits of turtles appear to reduce unwanted displacements (pitch, roll, etc.) to the minimum possible for animals with such slow muscles. The patterns of force exerted in human walking and running minimize the work required of the muscles at each speed. Much of the energy that would otherwise be neededfor running, by people and other large mammals, is saved by tendon elasticity.

The International Journal of Robotics Research, Vol. 3, No. 2, 49-59 (1984)
DOI: 10.1177/027836498400300205


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