In walking, humans prefer a moderate step width that minimizes energetic cost and vary step width from step-to-step to maintain lateral balance. Arm swing also reduces energetic cost and improves lateral balance. In running, humans prefer a narrow step width that may present a challenge for maintaining lateral balance. However, arm swing in running may improve lateral balance and help reduce en...

Most current bipedal robots were modeled with an assumption that there is no slip between the stance foot and ground. This paper relaxes undertakes a comprehensive study of compass gait biped on slippery It presents in detail control allows for slipping, shows feasible gaits fail ground two causes: falling backward or requiring negative contact force which cannot be provided by To characterize ...

We performed electrophysiological and behavioral experiments in single-leg preparations and intact animals of the stick insect Carausius morosus to understand mechanisms underlying the control of walking speed. At the level of the single leg, we found no significant correlation between stepping velocity and spike frequency of motor neurons (MNs) other than the previously shown modification in f...

36 We performed electrophysiological and behavioral experiments in single leg preparations 37 and intact animals of the stick insect Carausius morosus to understand mechanisms 38 underlying the control of walking speed. 39 At the level of the single leg, we found no significant correlation between stepping velocity 40 and spike frequency of motor neurons other than the previously shown modifica...

Abstract In this paper, the kinematics analysis and gait planning of quadruped walking mechanism are carried out. Firstly, a simplified four-legged model is established; then analyzed; On basis, studied, forward motion (four step movement) analyzed, corresponding leg swing order each calculated; Finally, ADAMS software used to simulate analyze planning.

Turning is an activity of daily living that involves both the acceleration of the body center-of-mass (COM) towards the center of curvature and rotation of the pelvis towards the new heading. The purpose of this study was to understand which muscles contribute to turning using experimentation, musculoskeletal modeling and simulation. Ten healthy adults consented to walk around a 1-m radius circ...