To achieve robust and stable legged locomotion in uneven terrain, animals must effectively coordinate limb swing and
stance phases, which involve distinct yet coupled dynamics. Recent theoretical studies have highlighted the critical
influence of swing-leg trajectory on stability, disturbance rejection, leg loading and economy of walking and running. Yet,
simulations...
To achieve robust and stable legged locomotion in uneven terrain, animals must effectively coordinate limb swing and
stance phases, which involve distinct yet coupled dynamics. Recent theoretical studies have highlighted the critical
influence of swing-leg trajectory on stability, disturbance rejection, leg loading and economy of walking and running. Yet,
simulations...
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...
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,...
To achieve robust and stable legged locomotion in uneven terrain, animals must effectively coordinate limb swing and stance phases, which involve distinct yet coupled dynamics. Recent theoretical studies have highlighted the critical influence of swing-leg trajectory on stability, disturbance rejection, leg loading and economy of walking and running. Yet, simulations...