We examine two prevailing, yet surprisingly contradictory, theories of human walking. The
six determinants of gait are kinematic features of gait proposed to minimize the energetic …

This paper presents an implementation of model predictive control (MPC) to determine
ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are …

Research on the biomechanics of animal and human locomotion provides insight into basic
principles of locomotion and respective implications for construction and control. Nearly …

This paper presents the design principles for highly efficient legged robots, the
implementation of the principles in the design of the MIT Cheetah, and the analysis of the …

Animals have evolved remarkable biomechanical and physiological systems that enable
their rich repertoire of motion. Animal Locomotion offers a fundamental understanding of …

In this paper, we introduce the design principles for highly efficient legged robots and the
implementation of the principles on the MIT Cheetah robot. Three major energy loss modes …

At moderate to fast walking speeds, the human ankle provides net positive work at high-
mechanical-power output to propel the body upward and forward during the stance period …

Although people's legs are capable of a broad range of muscle-use and gait patterns, they
generally prefer just two. They walk, swinging their body over a relatively straight leg with …

Background Even though walking can be sustained for great distances, considerable energy
is required for plantarflexion around the instant of opposite leg heel contact. Different groups …

Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state
relationships obtained from measurements of intact humans walking at target speeds and …