Center of Mass Offset Enhances the Selection of Transverse Gallop in High-Speed Running by Horses: A Modeling Study

Horses use the transverse gallop in high-speed running. However, different animals use different gaits, and the gait preference of horses remains largely unclear. Horses have fore-aft asymmetry in their body structure and their center of mass (CoM) is anteriorly located far from the center of the body. Since such a CoM offset affects the running dynamics, we hypothesize that the CoM offset of horses is important in gait selection. In order to verify our hypothesis and clarify the gait selection mechanisms by horses from a dynamic viewpoint, we developed a simple model with CoM offset and investigated its effects on running. Specifically, we numerically obtained periodic solutions and classified these solutions into six types of gaits, including the transverse gallop, based on the footfall pattern. Our results show that the transverse gallop is optimal when the CoM offset is located at the position estimated in horses. Our findings provide useful insight into the gait selection mechanisms in high-speed running of horses.