This investigation examined the possible role of musculoskeletal forces in the
human walk-run transition. In order to measure these forces a treadmill was constructed
which allowed the measurement of vertical ground reaction forces while subjects walked
and ran at prescribed speeds. Validation proved the device to be accurate and reliable...
Previous attempts to understand the factors affecting the energetic cost of locomotion have found a direct link between the energetic cost and the mechanical work done during periods when the limb is in contact with the ground. However, when the limb is not in contact with the ground during the...
This thesis presents a model for simulating individual pedestrian motion based on empirical data. The model keeps track of a pedestrian’s position, orientation, and body configuration and leverages motion capture data to generate plausible motion. Our model can automatically incorporate a pedestrian’s physical limitations when making movement decisions, since it...
Little, if any, quantifications have been made on the contribution of the vertebral column during jumping in quadrupedal mammals. Previous studies of jumpers have focused on the morphological and physiological specializations of the hindlimbs. In this study, such specialization was measured during the supramaximal jumps of the Pacific jumping mouse...
A distinct characteristic of legged locomotion is its periodic nature. This periodic motion, in the form of a periodic orbit, has been the target of many walking and running control strategies. The spring loaded inverted pendulum (SLIP) has become a popular model of sagittal plane locomotion, exhibiting behavior characteristic of...
This thesis presents a method for determining the
kinematic geometry of arthropod legs. A kinematic
description makes possible the analysis of arthropod leg
motion, as a prelude to investigating how various arthropod
species are able to negotiate diverse terrains. Such
knowledge will aid in design of legged vehicles.
The focus...
This thesis presents a model of legged locomotion in
which position and velocity of body are directly controlled
by positions and velocities of feet. One central
relationship between foot acceleration, leg stroke and body
velocity is developed. Procedures for determining all
parameters of a step sequence including periods of constant...
An actuated, bipedal model is developed to investigate lateral plane locomotion dynamics and stability on inclines. Both the point mass case and rigid body case are considered. Variations in the force-free leg length are determined via inverse dynamics to explicitly and implicitly match prescribed lateral and fore-aft force profiles, respectively....
We seek the control strategies that are applicable on legged robots and control them to run in real world as robust and efficient as animals. To achieve this goal, we need to understand the principles of legged locomotion and the control policies that animals use during running. In this study...
This thesis presents a method for determining range
of body motion for a walking machine with feet fixed on
the ground. The darkling beetle was selected as the
sample subject in this study.
A closed form inverse kinematic solution is used to
determine if a point in space is within...