Biped gait transitions
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2092-2097 vol.3
- https://doi.org/10.1109/robot.1991.131936
Abstract
Algorithms are described for generating biped run-to-walk and walk-to-run transitions. Simple algorithms were developed for those gait transitions by designing strategies for transforming the set of oscillations corresponding to one gait into the set corresponding to the other. For example, the gait transition from running to walking removed energy from the vertical oscillation by shortening the leg during the stance phase to initiate walking. This approach was tested by implementing run-to-walk and walk-to-run transitions on a planar biped robot.Keywords
This publication has 8 references indexed in Scilit:
- Passive Dynamic WalkingThe International Journal of Robotics Research, 1990
- Trotting, pacing and bounding by a quadruped robotJournal of Biomechanics, 1990
- Adaptations to changing speed in human locomotion: speed of transition between walking and runningActa Physiologica Scandinavica, 1987
- Gait and the energetics of locomotion in horsesNature, 1981
- An oscillation theory of handwritingBiological Cybernetics, 1981
- Ballistic walkingJournal of Biomechanics, 1980
- Why Change Gaits? Recruitment of Muscles and Muscle Fibers as a Function of Speed and GaitAmerican Zoologist, 1978
- Mechanics of walking.Journal of Applied Physiology, 1966