DLARlab/2025_Gait_Transitions_in_Load_Pulling_Quadrupeds_Insights: Gait Transitions in Load Pulling Quadrupeds Insights
Abstract
This repository contains MATLAB code to simulate and analyze galloping gait transitions in sled dogs pulling loads, based on a minimal Spring-Loaded Inverted Pendulum (SLIP) model with hybrid dynamics. The code reproduces experimentally observed gait sequences, tugline forces, and stride-to-stride transitions by optimizing model parameters. It supports both single-gait replication and multi-stride transition analysis, enabling exploration of the biomechanical mechanisms behind locomotor multistability under load.
Fields of Study & Subjects
Robotic Locomotion and Control
Lower Extremity Biomechanics and Pathologies
Balance
Gait
and Falls Prevention
Publication details
- Journal / source
- Zenodo (CERN European Organization for Nuclear Research)
- Publication date
- 16 March 2026
- Language
- EN