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...
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...