Energetics of actively powered locomotion using the simplest walking model.

By A. Kuo. Journal of Biomechanical Engineering, 2002

789 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/2d74f75e40c1c6d8f75bc6b64bd992183476f22e

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In Biomedical Engineering

In Mechanical Engineering

Citations in the corpus

Efficient Bipedal Robots Based on Passive-Dynamic Walkers (2005, background): “An- kle extension occurs mostly after the opposite leg has completed heel-strike collision, so in principle the machine could be made to consume about four times less energy by having ankle push-off before, rather than after, the opposing leg’s foot-to-ground collision (Kuo, 2002).”
Human Movement Variability, Nonlinear Dynamics, and Pathology: Is There A Connection? (2011, neutral): “974 975 978 Kuo, A.D. (2002).”
Computer optimization of a minimal biped model discovers walking and running (2006, background): “The costs of these collisional gaits can be calculated directly [10; 11; 12].”
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion (2015, methodology): “Therefore, we propose a method for generating continuous double support (CDS) trajectories, which—similar to the “Multi-Contact Transitions” in [23]—results in smooth Enhanced Centroidal Moment Pivot point (eCMP) and related leg force profiles.”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, background): “Other important contributions to passive dynamic walking are given in [100, 101, 15, 217].”
Powered Ankle--Foot Prosthesis Improves Walking Metabolic Economy (2009, background): “Researchers hypothesize [13]–[15] that the inability of conventional passive prostheses to provide these human-like energetics is the main cause for the metabolic, speed and symmetry difficulties experienced by today’s transtibial amputees.”
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL (2011, background): “…walkers which exhibit stable gaits on small downward slopes, and where gravity compensates for energy losses at leg impacts, researchers have devised efficient means of walking on flat ground by injecting minimal amounts of energy at key points in the gait Kuo (2002) and Collins et al. (2005).”
Synthesis of two-dimensional human walking: a test of the λ-model (2003, neutral): “Recent publications ( Kuo 2001 2002, van der Kooij et al. 2003) demonstrate that muscle actions additionally determine the actually chosen relationship between walking speed and step length.”
Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking. (2002, methodology): “Consequentially, positive work has the same dependence on step frequency and length as negative work, from Equation 2 (Kuo, 2002).”
A Bipedal Walking Robot with Efficient and Human-Like Gait (2005, background): “walking, adding energy with a “push-off” impulse from the stance leg just before heel strike is four times as effective as restoring energy after the collision has occured [11], [1 2] because it simultaneously restores energy and reduces the ensuing collision.”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, methodology): “This work extends the results of Chapters 3, 5, and 6 to include the impulsive actuator model of Kuo [144].”
Energetic Consequences of Walking Like an Inverted Pendulum: Step-to-Step Transitions (2005, background): “This work may be performed by gravity when walking down a slope (13), or by active hip torques for level ground (10).”