Energetic Consequences of Walking Like an Inverted Pendulum: Step-to-Step Transitions

By A. Kuo, J. Donelan, Andy Ruina. Exercise and sport sciences reviews, 2005

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Electrocortical activity is coupled to gait cycle phase during treadmill walking (2011, positive): “…left/right sensorimotor cortex were most pronounced during the end of contralateral limb stance when maximum lower limb muscle power is required (Kuo et al., 2005) but somatosensory attention may shift from the contralateral limb to the ipsilateral limb about to be raised (Pfurtscheller et al.,…”
Discovery of complex behaviors through contact-invariant optimization (2012, background): “Simpli-ﬁed dynamical systems representing walking [Kajita et al. 2001; Kuo et al. 2005], running [Seipel and Holmes 2005], push recovery [Pratt et al. 2006] and uneven terrain navigation [Manchester et al. 2011] have been proposed that are well suited to analysis and con-trol.”
The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective. (2007, background): “Even though the work performed during double support can theoretically be reduced to zero with shorter steps, this is offset by the high cost of faster steps (Doke, Donelan, & Kuo, 2005).”
Patterned control of human locomotion (2012, background): “COM velocity during step-to-step transitions (Fig. 6A; Kuo et al. 2005), and to force leg oscillation for swing (Marsh et al.”
From boots to buoys: promises and challenges of dielectric elastomer energy harvesting (2011, neutral): “[25]).”