Kinematics of treadmill galloping by cats: II. Steady-state coordination under positive reinforcement control

doi:10.1016/S0091-6773(77)92295-7

Behavioral Biology

Volume 21, Issue 1, September 1977, Pages 89-106

https://doi.org/10.1016/S0091-6773(77)92295-7 Get rights and content

This report, the second of three, describes treadmill galloping by cats that were trained solely by food reward. Four young adult animals provided data at various velocities from 2.3 to 4.1 m/sec. Another cat galloped at 2.0 m/sec. The overall speed range was lower than in the first study, probably because the animals were not punished for failure to run and, also, because they were slightly smaller and younger cats. At any one velocity, several successive strides were available whose footfall pattern was steady state, or invariant. The same three galloping patterns were seen that had been found previously in an aversive test situation: rotatory galloping, transverse galloping, and the half bound. The rotatory gallop was most frequently used. In general, the findings for movements of a single limb, and also the interlimb timings (with some exceptions during slow transverse galloping), were similar to those seen in the first study, as were such overall measures as stride length and the percentage of zero support. For one cat that provided a substantial number of test runs at increments between 3.1 and 4.1 m/sec, it was possible to show a linear trend of stride duration as a function of velocity, although the total change was only approximately 30 msec. The low-speed transverse gallop was of special interest, because its footfall patterns showed that a continuum of interlimb coordination could occur from trotting to this type of gallop. It was concluded that the overall similarities of food-reinforced galloping and galloping under aversive control far outweighed the differences, to imply economy of their neural control.

References (17)

LockardD.L. et al.
Reinforcement influences upon topography of treadmill locomotion by cats
Physiol. Behav.
(1976)
MillerS. et al.
Coordination of movements of the hindlimbs and forelimbs in different forms of locomotion in normal and decerebrate cats
Brain Res.
(1975)
MillerS. et al.
Locomotion in the cat: Basic programmes of movement
Brain Res.
(1975)
NorgrenK.S. et al.
Kinematics of treadmill galloping by cats. I. Steady-state coordination under aversive control
Behav. Biol.
(1977)
WetzelM.C. et al.
Ensemble characteristics of cat locomotion and its neural control
Progr. Neurobiol.
(1976)
WetzelM.C. et al.
Kinematics of treadmill galloping by cats. III. Coordinations during gait conversions and implications for neural control
Behav. Biol.
(1977)
GoslowG.E. et al.
The cat step cycle: Hind limb joint angles and muscle lengths during unrestrained locomotion
J. Morphol.
(1973)
HeglundN.C. et al.
Scaling stride frequency and gait to animal size: Mice to horses
Science
(1974)

There are more references available in the full text version of this article.

Cited by (8)

Trot-gallop gait transitions in quadrupeds
1991, Physiology and Behavior
Although the kinematics, mechanics, energetics and mathematics of trot-gallop gait transitions have been discussed in previous papers, no one article has tried to assimilate all the information. This review paper does this and includes a summary of the relatively new engineering (mathematical) approach to analyzing these transitions developed by Schoner et al. (29). The paper also presents unpublished data on gait transitions in cats and monkeys, and attempts to develop some general principles pertaining to trot-gallop transitions. Finally, the paper highlights areas where additional information is needed.
Interlimb coordination during stepping in the cat: In-phase stepping and gait transitions
1982, Brain Research
The coordination of step cycles between all 4 limbs during in-phase stepping and during transitions to and from alternate stepping was studied in 12 adult cats during repeated overground stepping trials. The temporal spacing of step cycles of the different limbs was determined from analysis of electromyographic (EMG) activity in a single extensor muscle of each limb. Patterns of coordination of the different limbs were established on the basis of the frequency with which phase values separating step cycles were encountered. Steps in which the phasing of step cycles of the two hindlimbs were closer to true in-phase coordination than true alternation (phase between 270° and 90°) and where similar coupling was found in both the preceding and following steps were defined as steady state conditions. Distinct patterns of coordination of forelimb-forelimb and forelimb-hindlimb step cycles were noted under steady state conditions. During stepping sequences which include transitions either to or from alternate stepping, both gradual and abrupt phase changes were found. The changes in both forelimb-forelimb and forelimb-hindlimb phase relationships were more often gradual than abrupt. Where abrupt changes were encountered in the change in phase relationships between one such limb pair the phase change in the other pair was gradual. Changes in hindlimb-hindlimb phase relationships during transitions were nearly always abrupt. It is concluded that the 4 limbs are coordinated during in-phase stepping according to a few patterns, but that the variability about these patterns makes their association with simple neural circuitry rather speculative. The finding that transitions were most often gradual is interpreted in terms of a state-dependent model of interlimb control, in which the type of transition utilized depends on the strength of neural coupling of step cycles of all 4 limbs at the time that the transition is initiated.
Kinematics of treadmill galloping by cats. I. Steady-state coordination under aversive control
1977, Behavioral Biology
A series of three studies was made of cats galloping on a treadmill. The purpose of the work was to furnish information on kinematic time constraints that could be used for biomechanical and neurophysiological interpretations. The data for this first report were obtained from nine cats trained to avoid shock or an air jet. They galloped at a constant velocity for a number of successive strides (cycles of movement by the four limbs). Cinematographic measurements were made and normalized of test runs in which footfall order was invariant, at speeds from 2.8 to 6.1 m/sec. Three previously defined types of galloping were seen at all speeds: the rotatory gallop, the transverse gallop and the half bound. Stride length increased markedly and linearly as forward velocity increased, and percentage of zero support (there was one flight phase per stride) increased slightly, but all other measures were quite insensitive to velocity changes. Movements of individual limbs, as measured by duty factor (stance or down time as a percentage of stride duration) varied little across the four limbs or three types of gallop. Averaged interlimb measures showed that across gallop types the forelimb touchdowns were always separated by approximately 25% of stride duration, but the hindlimbs could be separated by 11% (rotatory and transverse gallops) or else could touch down simultaneously (half bound). Overall, the most invariant hindlimb-to-forelimb interval was from the trailing (rear) hindlimb to the trailing forelimb. No evidence was gained to refute the assumption that selection of one of three types of gallop on the treadmill was arbitrary, at least for avoidance running.
Kinematics of treadmill galloping by cats. III. Coordination during gait conversions and implications for neural control
1977, Behavioral Biology
Two previous reports described steady-state galloping by cats, in which the footfall pattern was invariant for a number of successive strides at one velocity. There were three such patterns: rotatory galloping, transverse galloping, and the half bound. This final report concerns mixed galloping on a treadmill, in which the cat converted from one to another of the three gallops from one stride to the next. Cinematographic measurements were taken of conversions that occurred at speeds from 2.0 to 4.6 m/sec. The conversions were in almost every instance flawless, so that each individual stride (a cycle of movement by the four limbs) was readily distinguished as a typical rotatory or transverse gallop or a half bound. Placement order of the two hindlimbs, or the two forelimbs, or both, shifted. Conversions were accomplished by an average increase of 50–100 msec, or decrease of 50 msec, from the usual 200-msec-long swing (up) duration, since stance (down) durations were unchanged. The normal swing, then, is under more flexible neural control than has previously been believed possible. From an examination of a number of interlimb timings, it was concluded that in every expression of galloping by cats on a treadmill a complete stride is demarcated by successive descents of the trailing (rear) hindlimb. This four-limb ensemble is subdivided into paired movements of the hindlimbs and also the forelimbs, each pair also being marked initially by descent of the trailing limb. Selection of left or right limbs as trailing or leading (front) may be arbitrary, may prevent fatigue in individual limbs, or could offset roll at high speeds.
Chondroitinase ABC promotes recovery of adaptive limb movements and enhances axonal growth caudal to a spinal hemisection
2011, Journal of Neuroscience
Terrestrial locomotion and back anatomy in vervets (Cercopithecus aethiops) and patas monkeys (Erythrocebus patas)
1987, American Journal of Primatology

View all citing articles on Scopus

¹: The work was supported by USPHS Grant NS 11491.

View full text

Kinematics of treadmill galloping by cats: II. Steady-state coordination under positive reinforcement control1

Physiol. Behav.

Brain Res.

Brain Res.

Behav. Biol.

Progr. Neurobiol.

Behav. Biol.

The cat step cycle: Hind limb joint angles and muscle lengths during unrestrained locomotion

J. Morphol.

Scaling stride frequency and gait to animal size: Mice to horses

Science