Running and walking with compliant legs

DOI10.1007/978-3-540-36119-0_18MaRDI QIDQ5248643zbMATHOpenAlexFDO

Authors Andre Seyfarth, Hartmut Geyer, Reinhard Blickhan, S. Lipfert, Jeffrey L. Rummel, Y. Minekawa, Fumiya Iida

Publication date 8 May 2015

Published in Lecture Notes in Control and Information Sciences (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-540-36119-0_18

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10)

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Cited in

(13)

• Low leg compliance permits grounded running at speeds where the inverted pendulum model gets airborne
• Effective leg stiffness of animal running and the co-optimization of energetic cost and stability
• Consequences of forward translation of the point of force application for the mechanics of running
• Animals prefer leg stiffness values that may reduce the energetic cost of locomotion
• Grounded running in quails: simulations indicate benefits of observed fixed aperture angle between legs before touch-down
• A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition
• Human leg impact: energy dissipation of wobbling masses
• The leg stiffnesses animals use may improve the stability of locomotion
• Compliant ankle function results in landing-take off asymmetry in legged locomotion
• Idealized walking and running gaits minimize work
• Actuation system and control concept for a running biped
• Stable operation of an elastic three-segment leg
• Does a crouched leg posture enhance running stability and robustness?

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