ArticleJournal of the Royal Society, Interface2018
All common bipedal gaits emerge from a single passive model.
Article in Journal of the Royal Society, Interface, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
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Who cites it
12 citing papers in PubMed.
- Overground gait transitions are not sharp but involve gradually changing walk-run mixtures even over long distances.Royal Society open science · 2025Article
- Leg compliance is required to explain the ground reaction force patterns and speed ranges in different gaits.Royal Society open science · 2025Article
- Reciprocal actuation core and modular robotic limbs for flying, swimming and running.Communications engineering · 2025Article
- Frailty Syndrome as a Transition from Compensation to Decompensation: Application to the Biomechanical Regulation of Gait.International journal of environmental research and public health · 2023Article
- Humans plan for the near future to walk economically on uneven terrain.Proceedings of the National Academy of Sciences of the United States of America · 2023Article
- Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation.Micromachines · 2023Article
- A Template Model Explains Jerboa Gait Transitions Across a Broad Range of Speeds.Frontiers in bioengineering and biotechnology · 2022Article
- Elastic energy savings and active energy cost in a simple model of running.PLoS computational biology · 2021Article
- Phase transformation-driven artificial muscle mimics the multifunctionality of avian wing muscle.Journal of the Royal Society, Interface · 2021Article
- Walking humans trade off different task goals to regulate lateral stepping.Journal of biomechanics · 2021Article
- Biarticular muscles in light of template models, experiments and robotics: a review.Journal of the Royal Society, Interface · 2020Review
- Humans use multi-objective control to regulate lateral foot placement when walking.PLoS computational biology · 2019Article
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Authors and funding
4 authors.
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Abstract
In this paper, we systematically investigate passive gaits that emerge from the natural mechanical dynamics of a bipedal system. We use an energetically conservative model of a simple spring-leg biped that exhibits well-defined swing leg dynamics. Through a targeted continuation of periodic motions of this model, we systematically identify different gaits that emerge from simple bouncing in place. We show that these gaits arise along one-dimensional manifolds that bifurcate into different branches with distinctly different motions. The branching is associated with repeated breaks in symmetry of the motion. Among others, the resulting passive dynamic gaits include walking, running, hopping, skipping and galloping. Our work establishes that the most common bipedal gaits can be obtained as different oscillatory motions (or nonlinear modes) of a single mechanical system with a single set of parameter values. For each of these gaits, the timing of swing leg motion and vertical motion is matched. This work thus supports the notion that different gaits are primarily a manifestation of the underlying natural mechanical dynamics of a legged system. Our results might explain the prevalence of certain gaits in nature, and may provide a blueprint for the design and control of energetically economical legged robots.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.