In this paper, we studied the acceleration behavior of a quadruped animal during a galloping motion. Because the development of many quadruped robotic systems has been focused on dynamic movements, it is obvious that guidance from the dynamic behavior of quadruped animals is needed for robotics engineers. To fulfill this demand, this paper deals with analysis of the galloping motions of a domestic cat, which is well known for its excellent acceleration performance among four-legged animals. Based on the planar motion capture environment, the movement data of a galloping feline was acquired and the dynamic motions were estimated using a spring-mass system. In particular, the effects of the position and angle of the center-of-mass of the cat, angular displacement of the spine, and angular velocity of the spine were analyzed and are discussed below. Through this process, it was possible to understand the dynamic movement characteristics of the cat, and to understand the relationships between, and the influences of, these parameters. From this analysis, we provide significant data applicable to the design of joint movements in quadruped robot systems.

中文翻译：

---

猫疾驰中脊柱运动的最佳质心枢轴效应

在本文中，我们研究了四足动物在奔腾运动中的加速行为。因为许多四足动物机器人系统的开发都集中在动态运动上，所以很明显，机器人工程师需要四足动物动物动态行为的指导。为了满足这一需求，本文分析了家猫的奔腾运动，该猫以其在四足动物中出色的加速性能而闻名。基于平面运动捕获环境，获得了奔腾的猫科动物的运动数据，并使用弹簧质量系统估算了动态运动。特别是，分析了猫的质心的位置和角度，脊柱的角位移以及脊柱的角速度的影响，并在下面进行讨论。通过此过程，有可能了解猫的动态运动特征，并了解这些参数之间的关系以及这些参数的影响。通过此分析，我们提供了适用于四足机器人系统中关节运动设计的重要数据。