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Compliant leg behaviour explains basic dynamics of walking and running
Open accessAbstract
The basic mechanics of human locomotion are associated with vaulting over stiff legs in walking and rebounding on compliant legs in running. However, while rebounding legs well explain the stance dynamics of running, stiff legs cannot reproduce that of walking. With a simple bipedal spring–mass model, we show that not stiff but compliant legs are essential to obtain the basic walking mechanics; incorporating the double support as an essential part of the walking motion, the model reproduces the characteristic stance dynamics that result in the observed small vertical oscillation of the body and the observed out-of-phase changes in forward kinetic and gravitational potential energies. Exploring the parameter space of this model, we further show that it not only combines the basic dynamics of walking and running in one mechanical system, but also reveals these gaits to be just two out of the many solutions to legged locomotion offered by compliant leg behaviour and accessed by energy or speed.
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Cites
RHex: A Simple and Highly Mobile Hexapod Robot
Saranli, U., Buehler, M., & Koditschek, D. E. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067570 · Cited by 1,322
Cited by
Cognitive Developmental Robotics: A Survey
Asada, M., Hosoda, K., Kuniyoshi, Y., Ishiguro, H., Inui, T., Yoshikawa, Y., Ogino, M., & Yoshida, C. (2009) · IEEE Transactions on Autonomous Mental Development · doi:10.1109/tamd.2009.2021702 · Cited by 554
Angular momentum in human walking
Herr, H., & Popovic, M. (2008) · Journal of Experimental Biology · doi:10.1242/jeb.008573 · Cited by 498
Control of human gait stability through foot placement
Bruijn, S. M., & van Dieën, J. H. (2018) · Journal of The Royal Society Interface · doi:10.1098/rsif.2017.0816 · Cited by 424
Flexible muscle-based locomotion for bipedal creatures
Geijtenbeek, T., van de Panne, M., & van der Stappen, A. F. (2013) · ACM Transactions on Graphics · doi:10.1145/2508363.2508399 · Cited by 256
Biomechanics and energetics of walking on uneven terrain
Voloshina, A. S., Kuo, A. D., Daley, M. A., & Ferris, D. P. (2013) · Journal of Experimental Biology · doi:10.1242/jeb.081711 · Cited by 177
Metadata
- Authors
- Geyer, H., Seyfarth, A., & Blickhan, R.
- Venue
- Proceedings of the Royal Society B: Biological Sciences
- Publisher
- The Royal Society
- Published
- 2006-08-11
- Volume
- 273
- Issue
- 1603
- Pages
- 2861-2867
- ISSN
- 0080-4649 (ISSN-L)
- 0962-8452
- 1471-2954
- OpenAlex
- W2009317155
- Cited by
- 940
- References
- 1
- FWCI
- 13.16
- Type
- journal article
- Language
- en
- Open access
- green
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- Geyer, H., Seyfarth, A., & Blickhan, R. (2006). Compliant leg behaviour explains basic dynamics of walking and running. Proceedings of the Royal Society B: Biological Sciences. https://doi.org/10.1098/rspb.2006.3637
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
