Graphics Reference
In-Depth Information
(j)
(k)
FIG 4.27
(a-k) Cursorial quadriped walk cycle. Notice how, when the front legs are in the passing position,
the hind legs are in the stride position and vice versa.
Phase One
We start the sequence by establishing this phase with three of the four feet on
the ground. Note that while the hind legs are in the stride position, the front
legs are in the passing position.
• Front right leg is held straight and upright and supports the front of the
animal. It is halfway through its duty factor.
• Front left leg is swinging forward.
• Hind left leg is extended forward and has just been placed on the ground.
It is about to start its duty factor.
• Hind right leg is extended backward and has just completed the duty fac-
tor. Both back legs are supporting the horse at this stage. Balance is spread
over the three legs, providing a triangular configuration.
Phase Two
The front legs have now moved into the stride position while the hind legs
have moved into the passing position. The horse is supported on only two
legs, forming a diagonal support of left front and right hind.
• Front right leg is extended backward and takes the weight of the horse's
front end.
• Front left leg has swung forward with the foot located well ahead of the
shoulder, poised to be placed on the ground.
• Hind left leg has moved backward and is in a near-upright position.
• Hind right foot has lifted from the ground and begins to swing forward.
