Speed control in animal locomotion: transitions between symmetrical and nonsymmetrical gaits in the dog

Transitions between symmetrical and nonsymmetrical gaits as a speed control mechanism in dog locomotion were investigated. The external locomotion parameters such as swing and stance durations as well as stride length were measured in freely moving animals and were used to determine the spatial and temporal phase shifts between limb movements. The typical transition from trot to gallop and two kinds of gallop-trot transitions are described in detail. Such transitions occur usually in one or two steps and are linked with step length momentary changes within one diagonal pair of limbs. An example of walk to trot transition is also shown. This transition also occurred abruptly in one step and rapid leaps of the phase shift during walk - trot transitions were caused by a momentary decrease of the hindlimb step lengths. Finally, correlation between the external parameters of locomotion and the speed is discussed.