Compliant leg behaviour explains basic dynamics of walking and running

By Hartmut Geyer, André Seyfarth, Reinhard Blickhan. Proceedings of the Royal Society of London. Biological Sciences, 2006

1,013 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Biomedical Engineering

View Paper: https://www.semanticscholar.org/paper/fa62c4d3d4fe88b2360dadd1ab9a342ff7e6bdbf

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Citations in the corpus

A Muscle-Reflex Model That Encodes Principles of Legged Mechanics Produces Human Walking Dynamics and Muscle Activities (2010, methodology): “Finally, the now unsuppressed L+ of TA drives the ankle to a flexed position. of legged locomotion [18], [19], [ 27 ].”
Modeling and Optimal Control of Human-Like Running (2010, background): “10 compares vertical and horizontal contact force of the optimal motion of our model with numerical results of the SLIP model and real measurements of a human runner given in [39].”
Manuscript: Stable Running with Segmented Legs ¤ (2008, positive): “This is in agreement with a recent simulation study in which spring-like leg behavior was identified to allow both self-stable running and walking ( Geyer et al., 2006 ).”
On the Impact of Robotics in Behavioral and Cognitive Sciences: From Insect Navigation to Human Cognitive Development (2010, positive): “This includes the recent developments described in [32] where it was shown that adding simple controllers and actuators can allow a robot to walk on a flat ground with a limited consumption of energy, or in [56], [152] where further experiments showed that models based on compliant legs explained be”
Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot (2013, methodology): “The SLIP model features a springy, telescopic leg and describes its dynamic, fast running locomotion with flight phases (Blickhan, 1989, single leg support) or locomotion during walking (Geyer et al., 2006, short-time double leg support).”
Autonomous exoskeleton reduces metabolic cost of human walking during load carriage (2014, background): “Literature suggests that energy is transferred between joints via bi-articular muscle-tendon action when one joint is performing negative power and another is exhibiting positive power [26,27].”
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL (2011, background): “Although these benefits are more pronounced in running, compliance can also be used beneficially in walking (Geyer et al. 2006; Iida et al. 2007, 2008).”
Cognitive Developmental Robotics: A Survey (2009, background): “ever, its compliance needs to be changed since the compliance suitable for walking is supposed to be different from that for running [56].”