{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,15]],"date-time":"2026-06-15T22:53:11Z","timestamp":1781563991987,"version":"3.54.5"},"reference-count":48,"publisher":"The Royal Society","issue":"170","license":[{"start":{"date-parts":[[2020,9,1]],"date-time":"2020-09-01T00:00:00Z","timestamp":1598918400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/royalsociety.org\/-\/media\/journals\/author\/Licence-to-Publish-20062019-final.pdf"},{"start":{"date-parts":[[2020,9,1]],"date-time":"2020-09-01T00:00:00Z","timestamp":1598918400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/royalsociety.org\/journals\/ethics-policies\/data-sharing-mining\/"}],"funder":[{"name":"NIH","award":["R01 HD32571"],"award-info":[{"award-number":["R01 HD32571"]}]},{"name":"DOD","award":["MR150051"],"award-info":[{"award-number":["MR150051"]}]}],"content-domain":{"domain":["royalsocietypublishing.org"],"crossmark-restriction":true},"short-container-title":["J. R. Soc. Interface."],"published-print":{"date-parts":[[2020,9]]},"abstract":"<jats:p>Our previous study of cat locomotion demonstrated that lateral displacements of the centre of mass (COM) were strikingly similar to those of human walking and resembled the behaviour of an inverted pendulum (Park<jats:italic>et al.<\/jats:italic>2019<jats:italic>J. Exp. Biol.<\/jats:italic><jats:bold>222<\/jats:bold>, 14. (doi:10.1242\/jeb.198648)). Here, we tested the hypothesis that frontal plane dynamics of quadrupedal locomotion are consistent with an inverted pendulum model. We developed a simple mathematical model of balance control in the frontal plane based on an inverted pendulum and compared model behaviour with that of four cats locomoting on a split-belt treadmill. The model accurately reproduced the lateral oscillations of cats' COM vertical projection. We inferred the effects of experimental perturbations on the limits of dynamic stability using data from different split-belt speed ratios with and without ipsilateral paw anaesthesia. We found that the effect of paw anaesthesia could be explained by the induced bias in the perceived position of the COM, and the magnitude of this bias depends on the belt speed difference. Altogether, our findings suggest that the balance control system is actively involved in cat locomotion to provide dynamic stability in the frontal plane, and that paw cutaneous receptors contribute to the representation of the COM position in the nervous system.<\/jats:p>","DOI":"10.1098\/rsif.2020.0547","type":"journal-article","created":{"date-parts":[[2020,9,9]],"date-time":"2020-09-09T07:05:53Z","timestamp":1599635153000},"page":"20200547","update-policy":"https:\/\/doi.org\/10.1098\/crossmark-policy","source":"Crossref","is-referenced-by-count":9,"title":["Frontal plane dynamics of the centre of mass during quadrupedal locomotion on a split-belt treadmill"],"prefix":"10.1098","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8532-2233","authenticated-orcid":true,"given":"E. M.","family":"Latash","sequence":"first","affiliation":[{"name":"Department of Mathematics and Statistics, Georgia State University, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"W. H.","family":"Barnett","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Statistics, Georgia State University, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"H.","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Texas A&amp;M University, College Station, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J. M.","family":"Rider","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Statistics, Georgia State University, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A. N.","family":"Klishko","sequence":"additional","affiliation":[{"name":"School of Biological Sciences, Georgia Institute of Technology, 555 14th street NW, Atlanta 30332, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0499-3890","authenticated-orcid":true,"given":"B. I.","family":"Prilutsky","sequence":"additional","affiliation":[{"name":"School of Biological Sciences, Georgia Institute of Technology, 555 14th street NW, Atlanta 30332, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0862-1974","authenticated-orcid":true,"given":"Y. I.","family":"Molkov","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Statistics, Georgia State University, Atlanta, GA, USA"},{"name":"Neuroscience Institute, Georgia State University, Atlanta, GA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"175","published-online":{"date-parts":[[2020,9,9]]},"reference":[{"key":"e_1_3_7_2_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.198648"},{"key":"e_1_3_7_3_2","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1242\/jeb.20.2.88","article-title":"Studies in the mechanics of the tetrapod skeleton","volume":"20","author":"Gray J","year":"1944","journal-title":"J. Exp. Biol."},{"key":"e_1_3_7_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2004.03.025"},{"key":"e_1_3_7_5_2","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.15-02-01121.1995"},{"key":"e_1_3_7_6_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00510.2014"},{"key":"e_1_3_7_7_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.023416"},{"key":"e_1_3_7_8_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0147784"},{"key":"e_1_3_7_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jhevol.2018.09.006"},{"key":"e_1_3_7_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(93)90027-C"},{"key":"e_1_3_7_11_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00131.2009"},{"key":"e_1_3_7_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(85)90042-9"},{"key":"e_1_3_7_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2006.04.013"},{"key":"e_1_3_7_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(96)00165-0"},{"key":"e_1_3_7_15_2","volume-title":"Postural orientation and equilibrium. Supplement 29. Handbook of physiology, exercise: regulation and integration of multiple systems","author":"Horak F","year":"1996"},{"key":"e_1_3_7_16_2","doi-asserted-by":"publisher","DOI":"10.1152\/ajpregu.1977.233.5.R243"},{"key":"e_1_3_7_17_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01177"},{"key":"e_1_3_7_18_2","doi-asserted-by":"publisher","DOI":"10.1002\/jmor.1051240308"},{"key":"e_1_3_7_19_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7998.1974.tb03144.x"},{"key":"e_1_3_7_20_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.159277"},{"key":"e_1_3_7_21_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7998.2010.00763.x"},{"key":"e_1_3_7_22_2","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/20.1.255"},{"key":"e_1_3_7_23_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1975.38.3.492"},{"key":"e_1_3_7_24_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00064.2014"},{"key":"e_1_3_7_25_2","doi-asserted-by":"publisher","DOI":"10.1016\/0031-9384(93)90144-5"},{"key":"e_1_3_7_26_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00551.2015"},{"key":"e_1_3_7_27_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-019-49033-z"},{"key":"e_1_3_7_28_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.174896"},{"key":"e_1_3_7_29_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00773.2003"},{"key":"e_1_3_7_30_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00445.2009"},{"key":"e_1_3_7_31_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0006-8993(00)02712-8"},{"key":"e_1_3_7_32_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-004-1868-3"},{"key":"e_1_3_7_33_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00704.2004"},{"key":"e_1_3_7_34_2","doi-asserted-by":"publisher","DOI":"10.1113\/JP274518"},{"key":"e_1_3_7_35_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0212207"},{"key":"e_1_3_7_36_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2012.02.020"},{"key":"e_1_3_7_37_2","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.2012.245506"},{"key":"e_1_3_7_38_2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1242\/jeb.97.1.1","article-title":"Energetics and mechanics of terrestrial locomotion. I. Metabolic energy consumption as a function of speed and body size in birds and mammals","volume":"97","author":"Taylor CR","year":"1982","journal-title":"J. Exp. Biol."},{"key":"e_1_3_7_39_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuroscience.2014.12.084"},{"key":"e_1_3_7_40_2","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-444-53752-2.00013-8"},{"key":"e_1_3_7_41_2","doi-asserted-by":"publisher","DOI":"10.1136\/jnnp.38.9.865"},{"key":"e_1_3_7_42_2","doi-asserted-by":"publisher","DOI":"10.1097\/00000542-199701000-00026"},{"key":"e_1_3_7_43_2","doi-asserted-by":"crossref","first-page":"522","DOI":"10.1242\/jeb.15.4.522","article-title":"The dynamics of quadrupedal walking","volume":"15","author":"Manter JT","year":"1938","journal-title":"J. Exp. Biol."},{"key":"e_1_3_7_44_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1440-1681.2005.04143.x"},{"key":"e_1_3_7_45_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00496.2003"},{"key":"e_1_3_7_46_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2013.07.051"},{"key":"e_1_3_7_47_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00848.2017"},{"key":"e_1_3_7_48_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.bbr.2008.02.011"},{"key":"e_1_3_7_49_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00730.2011"}],"container-title":["Journal of The Royal Society Interface"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/royalsocietypublishing.org\/doi\/pdf\/10.1098\/rsif.2020.0547","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/royalsocietypublishing.org\/doi\/full-xml\/10.1098\/rsif.2020.0547","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/royalsocietypublishing.org\/doi\/pdf\/10.1098\/rsif.2020.0547","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,17]],"date-time":"2022-11-17T12:13:22Z","timestamp":1668687202000},"score":1,"resource":{"primary":{"URL":"https:\/\/royalsocietypublishing.org\/doi\/10.1098\/rsif.2020.0547"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9]]},"references-count":48,"journal-issue":{"issue":"170","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["10.1098\/rsif.2020.0547"],"URL":"https:\/\/doi.org\/10.1098\/rsif.2020.0547","relation":{},"ISSN":["1742-5689","1742-5662"],"issn-type":[{"value":"1742-5689","type":"print"},{"value":"1742-5662","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9]]},"assertion":[{"value":"2020-07-10","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-08-14","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-09-09","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}