Swing|leg retraction efficiency in bipedal walking

The Optimal Swing-Leg Retraction Rate for Running - MIT

more favorable efficiency, impact forces, and footing stability, but ... Kloimwieder, “Swing leg retraction helps biped walking stability,” dec. 2005 ...

Hip retraction enhances walking stability on a ramp - bioRxiv

The swing leg rotates backward at the end of the motion. Its positive effect on motion stability was reported in the literature based on some ...

Full article: Bevel-geared mechanical foot: a bioinspired robotic foot ...

During bipedal walking, yaw moment is inevitably generated at the support foot due to the acceleration and deceleration of the swing leg [ ...

The energetic effect of hip flexion and retraction in walking at ... - OUCI

The addition of a 'passive' hip spring to simple bipedal models appears more efficient than using only push-off impulse, at least, when hip spring associated ...

Qualitative Hybrid Control of Dynamic Bipedal Walking - Robotics

of the foot and bending of the knee in a multi-link robot. In numerical experiments, we will use a noticeable retraction (leg length at 80% of full ...

A Bipedal Walking Robot with Efficient and Human-Like Gait∗

foot retraction, the state switches to Right Leg Swing, and the motor is deactivated. The machine then swaps left and right legs and goes to the initial state.

Bipedal walking and push recovery with a stepping strategy based ...

This process, which is based on pelvis and swing foot tracking errors, naturally considers swing dynamics and leads to leg-retraction properties ...

Stabiility and Control of Two-Dimensional Biped Walking | Aerovel

Swing foot clearance is no longer by passive wobbling, but rather by active intervention of small motors in each leg. But apart from the retraction mechanism ...

Control strategy for variable gait using variable knee stiffness in a ...

Inspired by the high performance of human walking, which combines high robustness with high energy efficiency, the goal has been to use variable leg stiffness ...

Efficient bipedal locomotion on rough terrain via compliant ankle ...

Thus, it leads to slight retraction of the leading leg at the liftoff instant, helps prevent the swing leg from lagging the support leg, and ...

From quadrupedal to bipedal walking 'on the fly': the mechanics of ...

The costs are approximately double those of both the preceding quadrupedal and subsequent bipedal walking. Given the short duration of the ...

ADAPTATIONS FOR BIPEDAL LOCOMOTION OF LIZARDS

When the thigh was freed, shank flexion plus powerful retraction of the thigh re- tulted and the foot was pulled toward the body during the motion. 2. When the ...

Dynamic Bipedal Walking by Controlling only the Equilibrium of ...

Finite state machine to control the gait cycle of walking. are held constant at their current value at the switching instance. • Right leg retraction: During ...

All common bipedal gaits emerge from a single passive model

We use an energetically conservative model of a simple spring-leg biped that exhibits well-defined swing leg dynamics. Through a targeted ...

Identifying essential factors for energy-efficient walking control ...

One of the most crucial aspects of human walking is the energy-efficient maintenance of our controlled velocity in the range of 1.0–1.6 m/s [18]. Central ...

Stable and Robust Walking with Compliant Legs

The extreme case of bipedal walking are passive dynamic walkers with almost infinite leg stiffness, showing high energy efficiency but low robustness. This can ...

Control of ATRIAS in Three Dimensions: Walking as a Forced ...

(2016) Realizing dynamic and efficient bipedal locomotion on the humanoid ... Seyfarth A (2003) Swing-leg retraction: a simple control model for stable ...

Efficient bipedal locomotion on rough terrain via compliant ankle ...

Here, we present a novel actuation and control framework, enabling efficient and sustained bipedal locomotion on significantly rough terrain. The proposed ...

Impact Invariant Control with Applications to Bipedal Locomotion

For example, the open-loop swing-leg retraction policy has been shown to have inherent stability to varying terrain heights [4]. Qualitatively similar motions.

Dynamic Optimization of Mechanism Parameters of Bipedal Robot ...

It shows that the full-range walking energy efficiency can be lowered by reducing the ratio of leg mass, concentrating mass at the hip joint, decreasing the ...