1984/06/01 by R. McN. Alexander · 3 citations
Earth and Planetary Sciences · Engineering · #Acceleration #Anatomy #Artificial intelligence #Biology #Biomimetic flight and propulsion mechanisms #Bird flight #Classical mechanics #Computer science #Control theory (sociology) #Ecology #Engineering #Froude number #Gait #Ground reaction force #Joint (building) #Kinematics #Mechanical engineering #Mechanics #Paleontology and Evolutionary Biology #Physical medicine and rehabilitation #Physics #Quadrupedalism #Robotic Locomotion and Control #Simulation #Structural engineering #Terrestrial locomotion #Wing #Work (physics)
paper · doi:10.1177/027836498400300205
openalex publication_date 1984/06/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/05/21
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 u 2 /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.