نتایج جستجو برای: leg locomotion

تعداد نتایج: 67525  

2016
Emanuel Andrada Roy Müller Reinhard Blickhan

As an alternative to walking and running, humans are able to skip. However, adult humans avoid it. This fact seems to be related to the higher energetic costs associated with skipping. Still, children, some birds, lemurs and lizards use skipping gaits during daily locomotion. We combined experimental data on humans with numerical simulations to test whether stability and robustness motivate thi...

Journal: :The Journal of experimental biology 1992
D Eilam G Shefer

Conventional descriptions of interleg coupling relate to anatomical definitions such as fore- or hindlegs, right or left legs (i.e. the body is the frame of reference). This convention is obvious for forward walking, where forelegs (in anatomical terms) are also the leading legs (in terms of direction). In backward locomotion, however, the leading legs in terms of direction are the hindlegs in ...

2006
Dennis W. Hong

This paper presents some of the ground mobile robots under development at the Robotics and Mechanisms Laboratory (RoMeLa) at Virginia Tech that use biologically inspired novel locomotion strategies. By studying nature's models and then imitating or taking inspiration from these designs and processes, we apply and implement new ways for mobile robots to move. Unlike most ground mobile robots tha...

2006
Seung Kook Jun Glenn D. White Venkat N. Krovi

Our long-term goal is one of designing land-based vehicles to provide enhanced uneventerrain locomotion capabilities. In this paper, we examine and evaluate candidate articulated leg-wheel subsystem designs for use in such vehicle systems. The leg-wheel subsystem designs under consideration consist of disk wheels attached to the chassis through an articulated linkage containing multiple lower-p...

Journal: :Journal of motor behavior 2001
S F Donker P J Beek R C Wagenaar T Mulder

To evaluate the contrasting dynamical and biomechanical interpretations of the 2:1 frequency coordination between arm and leg movements that occurs at low walking velocities and the 1:1 frequency coordination that occurs at higher walking velocities, the authors conducted an experiment in which they quantified the effect of walking velocity on the stability of the frequency and phase coordinati...

Journal: :The Neuroscientist : a review journal bringing neurobiology, neurology and psychiatry 2004
E Paul Zehr Jacques Duysens

Walking can be a very automated process, and it is likely that central pattern generators (CPGs) play a role in the coordination of the limbs. Recent evidence suggests that both the arms and legs are regulated by CPGs and that sensory feedback also regulates the CPG activity and assists in mediating interlimb coordination. Although the strength of coupling between the legs is stronger than that...

2009
Kevin C. Galloway

Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability of these robots in changing environme...

2016
Runxiao Wang Wentao Zhao Shujun Li Shunqi Zhang

Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of s...

Journal: :Bioinspiration & biomimetics 2012
M Ernst H Geyer R Blickhan

Several recent studies on the control of legged locomotion in animal and robot running focus on the influence of different leg parameters on gait stability. In a preceding investigation self-stability controls showing deadbeat behavior could be obtained by studying the dynamics of the system in dependence of the leg orientation carefully adjusted during the flight phase. Such controls allow to ...

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