Dynamic Efficiency During Bipedal Walking

Energy efficiency in bipedal walking

A bipedal walking mode distinguishes even the earliest hominins from other apes and may have provided a crucial advantage. However, the selective pressure that originally drove the adaptation is unknown. Michael Sockol et al. now report that upright hominins would have enjoyed a saving in the energy required for locomotion and thus would have been able to forage extensively. The authors measure...

Bipedal Dynamic Walking in Robotics

It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented—an intuitive approach using software for gait animation, and a periodic app...

Parametrically Excited Dynamic Bipedal Walking

Human biped locomotion is an ultimate style of biological movement that is a highly evolved function. Biped locomotion by robots is a dream to be attained by the most highly evolved or integrated technology, and research on this has a history of over 30 years. Many methods of generating gaits have been proposed. There has been a tendency to reduce the complicated dynamics of a walking robot to ...

Frontal Plane Algorithms for Dynamic Bipedal Walking

Dynamic bipedal walking assisted by learning

This thesis proposes a general control architecture for 3D dynamic walking. It is based on a divide-and-conquer approach that is assisted by learning. No dynamic models are required for the implementation. In the approach, the walking task is divided into three subtasks: 1) to maintain body height; 2) to maintain body posture; and 3) to maintain gait stability. The first two subtasks can be ach...