Biomechanics and energetics of walking on uneven terrain

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Biomechanics and energetics of walking on uneven terrain.

Walking on uneven terrain is more energetically costly than walking on smooth ground, but the biomechanical factors that contribute to this increase are unknown. To identify possible factors, we constructed an uneven terrain treadmill that allowed us to record biomechanical, electromyographic and metabolic energetics data from human subjects. We hypothesized that walking on uneven terrain would...

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Biomechanics and energetics of walking on uneven terrain 2

he J ou rn al o f E xp er im en ta l B io lo gy – A C C E PT E D A U T H O R M A N U SC R IP T 1 Biomechanics and energetics of walking on uneven terrain 2 Alexandra S. Voloshina , Arthur D. Kuo, Monica A. Daley, and Daniel P. Ferris 3 4 School of Kinesiology, University of Michigan, Ann Arbor, MI, USA 5 Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA 6 Comparat...

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Walking on Uneven Terrain

Control of legged locomotion across uneven terrain is poorly understood from a theoretical perspective, despite strong relevance to clinical and robotic applications. Gait research has typically examined locomotion on smooth and level surfaces with uniform steps. Identifying key gait parameters that permit agile locomotion across uneven surfaces could lead to a clearer understanding of control ...

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Biomechanical and Energetic Consequences of Walking on Uneven Terrain

Motivation: Although animals and humans navigate complex terrain in their everyday lives, the biomechanical and energetic effects on legged locomotion from uneven terrain have scarcely been quantified [1]. Most gait research has examined locomotion on smooth, level surfaces. Identifying key gait parameters that permit agile locomotion across uneven surfaces could lead to clearer understanding o...

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Stable dynamic walking over uneven terrain

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynamic walking” biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not k...

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ژورنال

عنوان ژورنال: Journal of Experimental Biology

سال: 2013

ISSN: 1477-9145,0022-0949

DOI: 10.1242/jeb.081711