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The complex dynamics of animal manoeuvrability in the wild is extremelychallenging to study. The cheetah ($\textit{Acinonyx jubatus}$) is a perfectexample: despite great interest in its unmatched speed and manoeuvrability,obtaining complete whole-body motion data from these animals remains anunsolved problem. This is especially difficult in wild cheetahs, where it isessential that the methods used are remote and do not constrain the animal'smotion. In this work, we use data obtained from cheetahs in the wild to presenta trajectory optimisation approach for estimating the 3D kinematics and jointtorques of subjects remotely. We call this approach kinetic full trajectoryestimation (K-FTE). We validate the method on a dataset comprising synchronisedvideo and force plate data. We are able to reconstruct the 3D kinematics withan average reprojection error of 17.69 pixels (62.94 $\%$ PCK using thenose-to-eye(s) length segment as a threshold), while the estimates produce anaverage root-mean-square error of 171.3 N ($\approx$ 17.16 $\%$ of peak forceduring stride) for the estimated ground reaction force when compared againstthe force plate data. While the joint torques cannot be directly validatedagainst ground truth data, as no such data is available for cheetahs, theestimated torques agree with previous studies of quadrupeds in controlledsettings. These results will enable deeper insight into the study of animallocomotion in a more natural environment for both biologists and roboticists.

Wild Motion Unleashed: Markerless 3D Kinematics and Force Estimation in Cheetahs