Running and walking with compliant legs

Lecture Notes in Control and Information Sciences

Volumn 340, Issue , 2006, Pages 383-401

  Seyfarth, A ^a   Geyer, H ^a   Blickhan, R ^a   Lipfert, S ^a   Rummel, J ^a   Minekawa, Y ^a   Iida, F ^a,b  

^a FRIEDRICH SCHILLER UNIVERSITY JENA   (Germany)

^b UNIVERSITY OF ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS; FEEDBACK CONTROL; MECHANICAL STABILITY; PHYSIOLOGICAL MODELS; ROBOTICS; ROBOTS;

ELASTIC STRUCTURES; KNEE FLEXIONS; LEGGED ROBOTS; MOVEMENT PATTERN; RUNNING ROBOTS; SIMULATION APPROACH; SYSTEM ENERGY; WALKING ROBOTS;

MACHINE DESIGN;

EID: 34547185429     PISSN: 01708643     EISSN: None     Source Type: Book Series    
DOI: 10.1007/978-3-540-36119-0_18     Document Type: Conference Paper

References (27)

1. Blickhan, R. (1989) The spring-mass model for running and hopping. J. Biomech. 22, 1217-1227.
2. van den Bogert, A. J. (2003) Exotendons for assistance of human locomotion. Biomedical Engineering Online, 2-17.
3. Cavagna, G. A., Heglund, N. C. and Taylor, C. R. (1977) Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure. Am. J. Physiol. 233, 243-261.
4. Cavagna, G. A., Saibene, F. P. and Margaria, R. (1964) Mechanical work in running. J. Appl. Physiol. 19, 249-256.
5. De Wit, B., De Clercq, D., and Aerts, P. (2000). Biomechanical analysis of the stance phase during barefoot and shod running. J. Biomech. 33, 269-278.
6. Feldmann, A. (1966) Functional tuning of the nervous system during control of movement or maintenance of a steady state posture. II controllable parameters of the muscles. Biophysics 11: 565-578.
7. Full, R. F. and Koditschek D. (1999) Templates and anchors: neuromechanical hypotheses of legged locomotion on land. J. Exp. Biol. Vol. 202, Issue 23, 3325-3332.
8. Gatesy, S. and Biewener, A. (1991) Bipedal locomotion effects of speed, size and limb posture in birds and humans. J. of Zool. 224, 127-147.
9. Geyer, H. (2005) Simple models of legged locomotion based on compliant limb behavior. PhD Thesis. University of Jena.
10. Geyer, H., Seyfarth, A. and Blickhan, R. (2003) Positive force feedback in bouncing gaits? Proc. R. Soc. Lond. B 270, 2173-2183.
11. Ghigliazza, R., Altendorfer, R., Holmes, P., and Koditschek, D. (2003) A simply stabilized running model. SIAM Journal on Applied Dynamical Systems, 2(2), pp. 187-218.
12. Grillner, S. (1986) in Wenner-Gren International Symposium Series Vol. 45. Neurobiology of Vertebrate Locomotion (eds. Grillner, S., Stein, P. S. G., Stuart, D. G., Forssberg, F. and Herman, R. M.) 505-512 (Macmillan, London).
13. Guenther, M. and Blickhan, R. (2002) Joint stiffness of the ankle and the knee in running. J. Biomech. 35, 1459-1474.
14. Hayes, G. and Alexander, R. M. (1983) The hopping gaits of crows (corvidae) and other bipeds. J. Zool. Lond. 200, 205-213.
15. Hof, A. L., van Zandwijk, J. P. and Bobbert, M. F. (2002) Mechanics of human triceps surae muscle in walking, running and jumping. Acta Physiol Scand 174, 17-30.
16. Iida, F. (2005) Cheap design approach to adaptive behavior: walking and sensing through body dynamics. AMAM conference, Ilmenau.
17. Iida, F., Minekawa, Y., Rummel, J., and Seyfarth, A. (2006) Toward human-like biped robot with compliant legs. Intelligent Autonomous Systems 9. Arai, T. et al. (Eds.). IOS Press, 820-827.
18. Kram, R., Domingo, A., and Ferris, P. F. (1997) Effect of reduced gravity on the preferred walk-run transition speed. J. Exp. Biol. 200, 821-826.
19. Raibert, M (1986) Legged robot that balance. MIT press.
20. Ruina, A., Bertram, J. E. A., and Srinivasana, M. (2005) A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition. J. Theor. Biology, 237, 170-192.
21. Seyfarth, A., Blickhan, R., and van Leeuwen, J. L. (2000) Optimum take-off techniques and muscle design for long jump. J. Exp. Biol. 203, 741-750.
22. Seyfarth, A., Friedrichs, A., Wank, V., and Blickhan, R. (1999) Dynamics of the long jump. J. Biomech. 32, 1259-1267.
23. Seyfarth, A., Geyer, H., Guenther, M., and Blickhan, R. (2002). A movement criterion for running. J. Biomech. 35, 649-655.
24. Seyfarth, A., Geyer H., and Herr, H. (2003) Swing-leg retraction: a simple control model for stable running. J. Exp. Biol. 206, 2547-2555.
25. Seyfarth, A., Guenther, M., and Blickhan, R. (2001). Stable operation of an elastic three-segmented leg. Biological Cybernetis 84, 365-382.
26. Thorstensson, A. and Roberthson, H. (1987) Adaptations to changing speed in human locomotion: speed of transition between walking and running. Acta Physiol. Scand. 131, 211-214.
27. Zehr, E. P. and Stein, R. B. (1999) What functions do reflexes serve during human locomotion? Prog. Neurobiol. 5, 185-205.