Energetic consequences of walking like an inverted pendulum: step-to-step transitions
It costs several times the metabolic energy for a human to walk as it does to bicycle the same
distance. Walking is often likened to the motion of two coupled pendula, because the stance …
distance. Walking is often likened to the motion of two coupled pendula, because the stance …
Efficient bipedal robots based on passive-dynamic walkers
Passive-dynamic walkers are simple mechanical devices, composed of solid parts
connected by joints, that walk stably down a slope. They have no motors or controllers, yet …
connected by joints, that walk stably down a slope. They have no motors or controllers, yet …
[BOOK][B] Feedback control of dynamic bipedal robot locomotion
Bipedal locomotion is among the most difficult challenges in control engineering. Most
books treat the subject from a quasi-static perspective, overlooking the hybrid nature of …
books treat the subject from a quasi-static perspective, overlooking the hybrid nature of …
A three-dimensional passive-dynamic walking robot with two legs and knees
The authors have built the first three-dimensional, kneed, two-legged, passive-dynamic
walking machine. Since the work of Tad McGeer in the late 1980s, the concept of passive …
walking machine. Since the work of Tad McGeer in the late 1980s, the concept of passive …
Bifurcations and chaos in passive dynamic walking: A review
Irrespective of achieving certain success in comprehending Passive Dynamic Walking
(PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot …
(PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot …
Energetics of actively powered locomotion using the simplest walking model
AD Kuo - J. Biomech. Eng., 2002 - asmedigitalcollection.asme.org
We modified an irreducibly simple model of passive dynamic walking to walk on level
ground, and used it to study the energetics of walking and the preferred relationship …
ground, and used it to study the energetics of walking and the preferred relationship …
A simple model of bipedal walking predicts the preferred speed–step length relationship
AD Kuo - J. Biomech. Eng., 2001 - asmedigitalcollection.asme.org
We used a simple model of passive dynamic walking, with the addition of active powering on
level ground, to study the preferred relationship between speed and step length in humans …
level ground, to study the preferred relationship between speed and step length in humans …
A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and gallo**, pseudo-elastic leg behavior in running and the …
Terrestrial legged locomotion requires repeated support forces to redirect the body's vertical
velocity component from down to up. We assume that the redirection is accomplished by …
velocity component from down to up. We assume that the redirection is accomplished by …
Multiple walking speed–frequency relations are predicted by constrained optimization
A person constrained to walk at a given speed v on a treadmill, chooses a particular step
frequency f and step length d= v/f. Testing over a range of speeds generates a speed …
frequency f and step length d= v/f. Testing over a range of speeds generates a speed …
Modeling and control of legged robots
The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …