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Keywords: inverted pendulum
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Journal Articles
J Exp Biol (2021) 224 (22): jeb242813.
Published: 26 November 2021
... are important. This scaling differs from the Hill model, in which scaling of muscle forces determine frequency. We propose a simple torque-stabilized inverted pendulum (TS-IP) model to conceptualize the dynamics of this gait. The TS-IP model incorporates mathematics equivalent to an angular spring...
Includes: Supplementary data
Journal Articles
J Exp Biol (2019) 222 (14): jeb198648.
Published: 26 July 2019
... displacements closely resembled those of the inverted pendulum and of human walking. We propose that unilaterally compromised cutaneous feedback from the paw pads is compensated for by improving lateral balance and by shifting the body toward the anesthetized paws to increase tactile sensation during the stance...
Journal Articles
Journal Articles
J Exp Biol (2009) 212 (16): 2668–2678.
Published: 15 August 2009
...Peter G. Adamczyk; Arthur D. Kuo SUMMARY Simple dynamic walking models based on the inverted pendulum predict that the human body's center of mass (COM) moves along an arc during each step,with substantial work performed to redirect the COM velocity in the step-to-step transition between arcs...
Journal Articles
J Exp Biol (2008) 211 (23): 3744–3749.
Published: 1 December 2008
... physics-based limits to walking speed. Bipedal walking may be viewed as a vaulting gait, with the centre of mass (CoM) passing over a stiff stance leg (an `inverted pendulum'), while the swing leg swings forward (as a pendulum). At its simplest, this forms a `compass gait' walker, which has a maximum...
Includes: Multimedia, Supplementary data
Journal Articles
J Exp Biol (2007) 210 (3): 533–540.
Published: 1 February 2007
... Limited 2007 2007 collision inverted pendulum walk quadruped Walking with relatively stiff limbs, vaulting the hips (or hips and shoulders in the case of quadrupeds) over incompliant legs, presents a strategy for limiting the cost of locomotion. With this gait, mechanical energy forms...
Journal Articles
J Exp Biol (2004) 207 (24): 4215–4223.
Published: 15 November 2004
... increments as they locomoted on a motorized treadmill. We then measured their rates of oxygen consumption over a wide range of walking and trotting speeds. We interpreted the transition speed results using a simple inverted-pendulum model of walking in which gravity provides the centripetal force necessary...
Journal Articles
J Exp Biol (2004) 207 (14): 2417–2431.
Published: 15 June 2004
...Ann Hallemans; Peter Aerts; Bert Otten; Peter P. De Deyn; Dirk De Clercq SUMMARY Mechanical energy expenditure was investigated in children who are just learning to walk and compared with adult mechanical energy expenditure during walking. First, we determined whether the inverted pendulum (IP...