Added almost 6 years ago | 00:28:57 | 4948 views
Leg function can be adapted to different gaits and environmental conditions. Here we investigate, to what extent the structure of the segmented leg and the upright posture of the trunk affects the dynamics and stability of legged locomot...
Added almost 6 years ago | 00:39:45 | 5806 views
The extreme variation in hindlimb morphology that has occurred in the evolution of birds adapted to varying types of locomotion provides the opportunity to examine those features of muscle and limb architecture that appear to be associat...
Added almost 6 years ago | 00:28:59 | 4404 views
Our research aims at the creation of fast and efficient running motions of four legged robotic systems. We design our robots to explicitly enable and exploit natural dynamic effects (such as the oscillation on springy legs) in their mech...
Added almost 6 years ago | 00:29:36 | 4772 views
It is thought that many aspects of steady human locomotion under normal conditions can be predicted by appealing to the hypothesis that healthy humans roughly move in a manner that minimizes the metabolic cost of locomotion. While energy...
Added almost 6 years ago | 00:29:45 | 4426 views
Floquet theory describes the linearization of an oscillator around its orbit. We convert this familiar classical result to an empirical form, allowing Floquet models to be constructed directly from experimentally obtained trajectories of...
Added almost 6 years ago | 00:25:08 | 8147 views
This talk will present a method for computing estimates of regions of attraction to limit cycles of quite a general class of nonlinear hybrid systems. Such limit cycles typically represent the "nominal" motion of a walking robot, with al...
Added almost 6 years ago | 00:48:59 | 5647 views
This talk discusses the first steps toward closing the loop on walking: generating mathematical models for human walking, developing control laws that yield walking for 3D bipeds using these formal models, and comparing the resulting rob...
Added almost 6 years ago | 00:41:49 | 4028 views
Integrative approaches to studying the coupled dynamics of skeletal muscles with their loads while under neural control have focused largely on questions pertaining to the postural and dynamical stability of animals and humans. Prior stu...
Added almost 6 years ago | 00:22:57 | 4703 views
Birds are a diverse group of bipedal animals that span a range of body size, morphology and habitat use. This diversity can be exploited to reveal relationships between morphology, economy and stability of locomotion, providing a complem...
Added almost 6 years ago | 00:44:10 | 3277 views
It is now well established that the elastic function of tendons has a profound influence on the mechanics, energetics, and control of locomotion. A model of a simple Hookean spring in series with a muscle actuator reveals mechanisms that...
Added almost 6 years ago | 00:30:00 | 3952 views
Compliant mechanical behavior of the lower-limb can capture the basic dynamics of stable walking and running across a range of speeds, but the neuromechanical mechanisms responsible for robust, spring-like limb dynamics are not entirely ...
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