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Passive walking with knees
Abstract
It is shown that passive dynamic walking, a phenomenon originally described for bipeds having straight legs, also works with knees. Thus, giving only a downhill slope as a source of energy, a human-like pair of legs will settle into a natural gait generated by the passive interaction of gravity and inertia. No muscular input is required. The physics is much the same as in straight-legged walking, but the knee-jointed form has two advantages: it offers a simple solution to the problem of foot clearance during the recovery phase, and, in some cases, it is more stable.>
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Citations
Cited by
Active control of lateral balance in human walking
Bauby, C. E., & Kuo, A. D. (2000) · Journal of Biomechanics · doi:10.1016/s0021-9290(00)00101-9 · Cited by 851
Morphological Computation – Connecting Brain, Body, and Environment
Pfeifer, R., & Gómez, G. (2009) · Lecture Notes in Computer Science · doi:10.1007/978-3-642-00616-6_5 · Cited by 157
Metadata
- Authors
- McGeer, T.
- Venue
- Proceedings., IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-04
- Pages
- 1640-1645
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1639534865
- Cited by
- 466
- References
- 0
- FWCI
- 29.56
- Type
- conference paper
- Language
- en
- Open access
- closed
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- McGeer, T. (2002). Passive walking with knees. Proceedings., IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1990.126245
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
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.
