Horse gait | EPFL Graph Search

Horses can use various gaits (patterns of leg movement) during locomotion across solid ground, either naturally or as a result of specialized training by humans. Terrestrial locomotion and Gait Gaits are typically categorized into two groups: the "natural" gaits that most horses will use without special training, and the "ambling" gaits that are various smooth-riding four-beat footfall patterns that may appear naturally in some individuals. Special training is often required before a horse will perform an ambling gait in response to a rider's command. Another system of classification that applies to quadrupeds uses three categories: walking and ambling gaits, running or trotting gaits, and leaping gaits. The British Horse Society Dressage Rules require competitors to perform four variations of the walk, six forms of the trot, five leaping gaits (all forms of the canter), halt, and rein back, but not the gallop. The British Horse Society Equitation examinations also require proficiency in the gallop as distinct from the canter. The so-called "natural" gaits, in increasing order of speed, are the walk, trot, canter, and gallop. Some consider these as three gaits, with the canter a variation of the gallop, even though the canter is distinguished by having three beats, whereas the gallop has four beats. All four gaits are seen in wild horse populations. While other intermediate speed gaits may occur naturally to some horses, these four basic gaits occur in nature across almost all horse breeds. In some animals the trot is replaced by the pace or an ambling gait. Horses who possess an ambling gait are usually also able to trot. The walk is a four-beat gait that averages about . When walking, a horse's legs follow this sequence: left hind leg, left front leg, right hind leg, right front leg, in a regular 1-2-3-4 beat. At the walk, the horse will alternate between having three or two feet on the ground. A horse moves its head and neck in a slight up and down motion that helps maintain balance.

Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait

Kamiar Aminian, Xavier Crevoisier, Robin Martin

Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

MDPI2023

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

New York2023

Gait-dependent Traversability Estimation on the k-rock2 Robot

Auke Ijspeert, Matthew Alfonso Estrada, Mohammadreza Ebrahimi

Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

IEEE2022