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This study aims to understand the biomechanical mechanisms behind gait transitions in load-pulling quadrupeds during high-speed locomotion.

Gait transitions in load-pulling quadrupeds: insights from sled dogs and a minimal spring-loaded inverted pendulum model

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Randomized trial reveals adaptive gait transitions in load-pulling quadrupeds, suggesting new insights for locomotion models.

This study aims to understand the biomechanical mechanisms behind gait transitions in load-pulling quadrupeds during high-speed locomotion.
Used high-speed video and force recordings to analyze gait patterns of sprint sled dogs.
Employed a physics-based spring-loaded inverted pendulum model to simulate galloping gaits.
Utilized trajectory optimization to replicate gait sequences observed in sled dogs.
Sled dogs switch between rotary and transverse galloping gaits with minimal speed changes and stride duration.
Identified swing-leg stiffness modulation as a key factor in achieving gait transitions.
The modeling framework can aid in understanding locomotion in other quadrupeds and legged robots.

Ding et al. (2026) studied this question.

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