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《Journal of Shanghai Jiaotong University》 1991-02
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An Experiment and Analysis of Horse Gaits

Wang Weiming Yang Haixing Liu Yanzhu  
The five gaits——level-walking,upstair-walking,downstair-walking,obstacle-crossing and ditch-crossing of a horse are experimentedand analyzed from high-speed photographs.The results from the analysismay be applied to the study of a quadruped walking machine.
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