- Swing|leg retraction efficiency in bipedal walking🔍
- Stable bipedal walking with a swing|leg protraction strategy🔍
- Swing leg retraction helps biped walking stability🔍
- The Effect of Swing Leg Retraction on Biped Walking Stability Is ...🔍
- The Effect of Swing Leg Retraction on Biped Walking Stability is ...🔍
- The effect of swing leg retraction on running energy efficiency🔍
- Dynamic Stability of a Simple Biped Walking System with Swing Leg ...🔍
- Optimal Relative Timing of Stance Push|Off and Swing Leg Retraction🔍
Swing|leg retraction efficiency in bipedal walking
Swing-leg retraction efficiency in bipedal walking - IEEE Xplore
Swing-leg retraction efficiency in bipedal walking. Abstract: In biped walking, swing-leg retraction can reduce the energy loss at heel-strike by reducing the ...
Swing-leg retraction efficiency in bipedal walking - IEEE Xplore
Swing-Leg Retraction Efficiency in Bipedal Walking. S. Javad Hasaneini1,2, Chris J.B. Macnab2, John E.A. Bertram3, and Henry Leung2. Abstract— In biped ...
Stable bipedal walking with a swing-leg protraction strategy
In bipedal locomotion, swing-leg protraction and retraction refer to the forward and backward motion, respectively, of the swing-leg before ...
Swing leg retraction helps biped walking stability - Semantic Scholar
The conclusions of this paper are to use a mild swing leg retraction speed for better stability, and walking faster is easier. In human walking, the swing ...
Swing leg retraction helps biped walking stability
The swing leg trajectory is optimized both for stability and for efficiency. c i g w m, I. Fig. 9. Our current experimental biped and a ...
Stable bipedal walking with a swing-leg protraction strategy - PubMed
In bipedal locomotion, swing-leg protraction and retraction refer to the forward and backward motion, respectively, of the swing-leg before ...
Stable bipedal walking with a swing-leg protraction strategy
Specifically, swing-leg retraction has been shown to: (1) increase the energy-efficiency by reducing the foot velocity just before touchdown and by reducing the ...
The Effect of Swing Leg Retraction on Biped Walking Stability Is ...
Abstract — Swing Leg Retraction (SLR) is observed in human walking and running. Previous studies have concluded that SLR improves the stability and ...
The Effect of Swing Leg Retraction on Biped Walking Stability is ...
In Asan (2015), the authors achieve a limit cycle walking by considering the touchdown point of the swing leg. Others focus on disturbance rejection (Bao ...
The effect of swing leg retraction on running energy efficiency
Overall energy usage, including that used to swing the legs, scales with energy loss at touchdown, which is minimized at the retraction rate that zeros foot ...
Dynamic Stability of a Simple Biped Walking System with Swing Leg ...
... The effect of swing-leg retraction on limit cycle walking 8 is relatively well studied and has been shown to improve energy efficiency, small disturbance ...
For example, the impulsive models have been previously used to explore the energetic benefits of pre-emptive push- off in bipedal walking [8], [ ...
The effects of swing-leg retraction on running performance
We find that swing-leg retraction can improve stability and disturbance rejection. Alternatively, swing-leg retraction can simultaneously reduce touchdown ...
Optimization and evaluation of swing leg retraction for a hydraulic ...
First, the influence of SLR on the locomotion performance of the hydraulic biped robot is analyzed in theory and simulations based on an ...
Energy Efficient Bipedal Locomotion - PRISM - University of Calgary
Instead, energy-loss at heel-strike can be minimized by landing on a near-vertical leg. Swing-leg retraction in walking is also investigated in depth. The ...
The energetic effect of hip flexion and retraction in walking ... - bioRxiv
The addition of a 'passive' hip spring to simple bipedal models appears more efficient than using only push-off impulse, at least, when hip ...
The effects of swing-leg retraction on running performance
swing-leg retraction and efficiency. 3.1 Methods. Impact ... Dynamic stability of a simple biped walking sys- tem with swing leg retraction.
Swing leg retraction helps biped walking stability
In human walking, the swing leg moves backward just prior to ground contact, i.e. the relative angle between the thighs is decreasing.
Energy-optimal relative timing of stance-leg push-off and swing-leg ...
These trends extend to other bipedal models and to aperiodic gaits, and are independent of step lengths and walking speeds. In one simulation, ...
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 ...