Dynamic bipedal robots, which are capable of versatile behaviour, are rare. Most bipedal robots are either versatile and static or dynamic and limited to specific gaits. Over the last twenty years the bio-inspired spring mass model became a versatile template for bipedal walking and running gaits with many studies motivated...
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...
Full Text:
Blum Y, Vejdani HR, Birn-Jeffery AV, Hubicki CM, Hurst JW, et al. (2014)
Swing-Leg Trajectory of
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...
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...