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Keywords: inverted pendulum
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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
J Exp Biol (2019) 222 (9): jeb195172.
Published: 30 April 2019
... the mechanical COT. This simple model, even when devoid of elastic properties, discovered walking (inverted pendulum) and running (impulsive bouncing) gait solutions at low and high velocities, respectively. Others have proposed that COM control is central to gait stability, which may, in turn...
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. But...
Journal Articles
J Exp Biol (2008) 211 (23): 3744–3749.
Published: 01 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: 01 February 2007
.... This speed limitation to walking is largely equivalent to that described by Alexander( 1989 ) and Usherwood( 2005 ), traditionally understood using inverted pendulum mechanics to describe the centripetal acceleration requirements of stiff-limbed walking. However, even at moderate Froude numbers, limb...
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...