Quadruped Rotary Galloping Gait Pattern within a Constant Radius Bend Using Accelerometry

This paper provides an initial investigation of quadruped rotary galloping gait patterns using data from racing greyhounds as they navigate their way around a constant radius bend. This study reviewed actual race data collected over a five month period from 2986 racing greyhounds. Using numerical dynamics modelling and value range analysis important factors were identified and analysed. By cleaning and synthesising simple X and Y data and also processing data for accuracy greyhound motion path dynamics results were produced for analysis. The results show that the galloping path greyhounds took going into the bend was different from the path coming out of the bend. It also shows that more than 50% of the greyhounds naturally optimised their path for a longer transition while minimising jerk when entering and exiting the bend. This research verified that individual greyhounds naturally chose different path transition lengths for accommodating their dynamic conditions. Finally, it was found that the greyhound galloping path dynamics state is less intense during the second half of the bend.