New Impulsion Mechanism
I conducted detailed analysis and made a wonderful discovery. The centroid and the body’s pitching movement became to be able to separated thanks to the new mechanism which generates impulsive force. It is the most important invention in this research period.
The walking mechanism of horses turned out to be realized by ticking four beat with two independent pitching motion in the upper body and lower body. This mechanism is amazing.
(2) Stepping Pace
In the stepping pace, two beat is carved by one pitching motion of body. However, the rhythm of the four legs is uniform and stable.
(3) Pace (4) Trot
While comparing to the two basic gaits described above, Balance & Rhythm are lost, but propulsive and impulsive force compensates for it. Thanks to the new mechanism, there is a slight delay occurred in the pitching motion of the body, and the centroids is stabilized.
(5) Canter (6) Gallop
Although there is no change, since the new impulsion mechanism was added, the upper body became to rise more.