Abstract
To understand locomotion capability of quadruped animals, anatomical and dynamical leg model is important. Therefore, we have developed a dynamic simulator for the quadruped musculoskeletal model. Based on this, in this study, we intend to reproduce the hind leg trajectory during gallop. To do so, we generally have to determine many parameters, that is, mechanical and kinematic properties. Almost parameters have been known by literature except relationship between EMG and the muscle forces. Hence, we determine the appropriate coefficient of muscle forces and moment arms based on the EMG data in gallop gait with Real-corded GA. As the simulation results, we found that attachment point of muscles on the bones significantly affects hind leg motion in gallop gait.
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