Speed-Dependent Turning Strategies in Quadrupedal Locomotion: Insights from Computational Modeling

Abstract

Quadrupedal animals like mice navigate their environments through complex coordination of neural signals and biomechanical movements, enabling stable and directed locomotion. While many computational models simplify this process by assuming left-right symmetrical body movements and focusing on straight-line paths, real animals rely heavily on asymmetrical body movements to execute turns and adjust speed effectively. This study builds upon a previously developed model of quadrupedal locomotion proposed by Molkov et al., 2024) in which forward movement of the body was driven by central neural interactions, biomechanics, and proprioceptive feedback. We extended this model to comparatively investigate possible mechanisms of steering by introducing three distinct asymmetrical strategies-body bending, lateral force application, and lateral limb shifting as well as their combinations-to explore their potential involvement in turning performance. By simulating these strategies across a walking speed range, we measured and compared their impact on turning curvature the sharpness of the turn) and limb coordination. The latter was quantified through ratios of duty factors representing the relative time that a limb spent in contact with the ground compared to its counterpart on the opposite side. Our findings reveal that each strategy excels at different speeds: body bending allows sharp turns at low speeds, lateral force is most effective at medium speeds, and lateral shifting performs best at higher speeds. Our results suggest that animals select or combine turning strategies based on their locomotor speed or adjust speed to use a specific strategy. We also show that the forelimbs consistently play a primary role in steering, while the hindlimbs adjust propulsion and stability in ways that depend on the specific turning strategy. These results provide valuable insights into how spinal circuits and mechanical asymmetries work together to produce flexible, adaptive movement patterns, offering a robust framework for understanding locomotion in both biological organisms and robotic systems designed to mimic such behaviors.