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Don’t break a leg: running birds from quail to ostrich prioritise leg safety and economy on uneven terrain

Creator:

Birn-Jeffery, Aleksandra V., Hubicki, Christian M., Blum, Yvonne, Renjewski, Daniel, Hurst, Jonathan W., and Daley, Monica A.

Abstract:

Cursorial ground birds are paragons of bipedal running that span a 500-fold mass range from quail to ostrich. Here we investigate the task-level control priorities of cursorial birds by analysing how they negotiate single-step obstacles that create a conflict between body stability (attenuating deviations in body motion) and consistent leg...

Resource Type:

Article

Full Text:

Renjewski2, Jonathan W. Hurst2 and Monica A. Daley1,§ Th e Jo ur na l o f E xp er im en ta l B io
From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

Creator:

Hubicki, Christian M.

Abstract:

Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...

Resource Type:

Dissertation

Full Text:

a supportive advisor, and giving me both the freedom and guidance to achieve my goals. Monica