Authors
Dondogjamts Batbaatar1, *, Hiroaki Wagatsuma1, 2
1Graduate School of Life Science and Systems Engineering, Kyushu Institute
of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Japan
2RIKEN Center for Brain Science, Saitama, Japan
*Corresponding author. Email: [email protected]
Corresponding Author
Dondogjamts Batbaatar
Received 15 January 2021, Accepted 26 April 2021, Available Online 21 July
2021.
DOI
https://doi.org/10.2991/jrnal.k.210713.002
Keywords
Closed-loop linkage; multibody dynamics; dissipative contact force model;
hoof–ground interaction
Abstract
In the present study, the systematic method for the forward dynamics associated
with the ground contact model was introduced to be able to consider the
viscoelastic effect when contacting with the ground. In particular, we
focused on the hoof-ground interaction in the simplified horse leg model
because walking and running gaits are known to be different in trajectories;
however, the force analysis still remains as unsolved issues. The computational
experiments in Matlab, elastic and inelastic impact with the ground was
resolved by using the dissipative contact force model proposed by Lankarani
and Nikravesh and the ground reaction force was clearly examined in four
different conditions from the combination of walking/running and elastic/inelastic
contact. As result, two peaks during the stance phase in the walking condition
were realized as well as the human gait and a single peak was newly observed
in running with a time gap in elastic and inelastic condition. The proposed
method contributes to the establishment of the detail time course analysis
of the ground reaction force for animal and human gaits in a consistent
manner.
Copyright
© 2021 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license
(http://creativecommons.org/licenses/by-nc/4.0/).