From Walking to Running
نویسندگان
چکیده
The implementation of bipedal gaits in legged robots is still a challenge in state-of-the-art engineering. Human gaits could be realized by imitating human leg dynamics where a spring-like leg behavior is found as represented in the bipedal spring-mass model. In this study we explore the gap between walking and running by investigating periodic gait patterns. We found an almost continuous morphing of gait patterns between walking and running. The technical feasibility of this transition is, however, restricted by the duration of swing phase. In practice, this requires an abrupt gait transition between both gaits, while a change of speed is not necessary.
منابع مشابه
Dynamics of a Running Below-Knee Prosthesis Compared to Those of a Normal Subject
The normal human running has been simulated by two-dimensional biped model with 7 segments. Series of normal running experiments were performed and data of ground reaction forces measured by force plate was analyzed and was fitted to some Fourier series. The model is capable to simulate running for different ages and weights at different running speeds. A proportional derivative control algorit...
متن کاملKinetic and Kinematic Variables in Middle-Aged Women with Normal and Genu Varum Knee Angle with Emphasis on Walking and Running Activities
Purpose: The purpose of this study is to examine the differences of kinetic and kinematic variables in middle-aged women with genu varum and normal knee angle during walking and running. Methods: Eight middle-aged women with genu varum (age: 45.12 ±12.74 y, height: 160.62 ± 5.26 cm, weight: 71.75 ± 16.38 kg, right tibiofemoral angle: -4 ± 3.9, left tibiofemoral angle: -5.1 ± 4.6) and 7 wi...
متن کاملتأثیر دو شیوه تمرین هوازی بر تعادل ایستا و پویای سالمندان
Objectives: The aim of present study is to determine the effect of two methods of aerobic training on static and dynamic balance in old men. Methods & Materials: 37 aged people over 60 years old who were physically healthy divided into three groups after randomly carrying out pretest: 1) walking or running aerobic exercise group (n=12), 2) cycling aerobic exercise group (n=13) and 3) c...
متن کاملControl of a Robotic Wheel-Chair Prototype for People with Walking Disabilities
In this paper we present a system that could be used to help people with walking disabilities. A system consists of a prototype mobile robot platform equipped with a control board and a remote computer system, running with image processing algorithms, was used to develop a system for physically disabled human to move freely in an environment. We used a camera to get visual information by a huma...
متن کاملCOMPARING EFFICIENCY OF EXERCISE ON THE TREADMILL AND GROUND ON THE GROUND REACTION FORCES DURING WALKING IN PEOPLE WITH GENU VARUM
Background & Aim: Genu varum is one of the most common abnormalities of the knee joint in which the inner condyles of the femur move away from each other. The aim of the present study was to compare efficiency of exercise on the treadmill and ground on the ground reaction forces during walking in people with genu varum. Material & Methods: The present study was a quasi-experimental and laborat...
متن کاملTuataras and salamanders show that walking and running mechanics are ancient features of tetrapod locomotion.
The lumbering locomotor behaviours of tuataras and salamanders are the best examples of quadrupedal locomotion of early terrestrial vertebrates. We show they use the same walking (out-of-phase) and running (in-phase) patterns of external mechanical energy fluctuations of the centre-of-mass known in fast moving (cursorial) animals. Thus, walking and running centre-of-mass mechanics have been a f...
متن کامل