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It is widely held that quadrupeds choose steady gaits that minimize their energetic cost of transport, but it is difficult to explore the entire range of possible footfall sequences empirically. We present a simple model of a quadruped that can spontaneously produce any of the thousands of planar footfall sequences available to quadrupeds. The inelastic, planar model consists of two point masses connected with a rigid trunk on massless legs. It requires only center of mass position, hind and forelimb proportions and a stride-length to speed relationship as input.
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