Low leg compliance permits grounded running at speeds where the inverted pendulum model gets airborne

Andrada, Emanuel; Blickhan, Reinhard; Ogihara, Naomichi; Rode, Christian

doi:10.1016/j.jtbi.2020.110227

Cited by 11 publications

(16 citation statements)

References 66 publications

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“…We expected step-type (up vs. down) and step-height related changes in leg kinematics, as animals preadapt and redirect the body when negotiating a visible vertical step. While kinematics cannot predict dynamics, we anticipated that the knowledge of the interaction between kinematics and dynamics during level locomotion discussed previously 3 , 4 , 14 , 15 , 18 , 21 , 22 , 24 , 38 could help us to deduce joint related pre-/post-adaptations and thus to infer the main goals of neuromechanical strategies used by animals to cope with vertical steps.…”

Section: Introductionmentioning

confidence: 99%

“…In this strategy, the angle between the leg going to contact on the ground (usually termed leading) and the supporting legs (usually termed trailing) is fixed before TD. The retraction of the leading leg is thus automatically adapted for locomotion speed 4 , 21 , 22 . The aperture angle strategy has not yet been tested in birds facing perturbations, although there is some evidence for its use by humans during uneven locomotion 23 .…”

Section: Introductionmentioning

confidence: 99%

“…Simple model representations like the effective leg help to understand basic strategies for stability or economy of locomotion e.g., 4 , 5 , 21 , 29 – 31 and can be used as global goals for the control of limb joints 32 . During unrestricted locomotion, there is evidence of an interplay between effective leg and limb segmental angles.…”

Section: Introductionmentioning

confidence: 99%

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Limb, joint and pelvic kinematic control in the quail coping with steps upwards and downwards

Andrada

Mothes

Stark

et al. 2022

Sci Rep

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Small cursorial birds display remarkable walking skills and can negotiate complex and unstructured terrains with ease. The neuromechanical control strategies necessary to adapt to these challenging terrains are still not well understood. Here, we analyzed the 2D- and 3D pelvic and leg kinematic strategies employed by the common quail to negotiate visible steps (upwards and downwards) of about 10%, and 50% of their leg length. We used biplanar fluoroscopy to accurately describe joint positions in three dimensions and performed semi-automatic landmark localization using deep learning. Quails negotiated the vertical obstacles without major problems and rapidly regained steady-state locomotion. When coping with step upwards, the quail mostly adapted the trailing limb to permit the leading leg to step on the elevated substrate similarly as it did during level locomotion. When negotiated steps downwards, both legs showed significant adaptations. For those small and moderate step heights that did not induce aerial running, the quail kept the kinematic pattern of the distal joints largely unchanged during uneven locomotion, and most changes occurred in proximal joints. The hip regulated leg length, while the distal joints maintained the spring-damped limb patterns. However, to negotiate the largest visible steps, more dramatic kinematic alterations were observed. There all joints contributed to leg lengthening/shortening in the trailing leg, and both the trailing and leading legs stepped more vertically and less abducted. In addition, locomotion speed was decreased. We hypothesize a shift from a dynamic walking program to more goal-directed motions that might be focused on maximizing safety.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Limb, joint and pelvic kinematic control in the quail coping with steps upwards and downwards

Andrada

Mothes

Stark

et al. 2022

Sci Rep

Self Cite

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show abstract

“…In this strategy, the angle between the leg going to contact on the ground (usually termed leading) and the supporting legs (usually termed trailing) is fixed before TD. The retraction of the leading leg is thus automatically adapted for locomotion speed 4,17,18 . The aperture angle strategy has not yet been tested in birds facing perturbations, although there is some evidence for its use by humans during uneven locomotion 19 .…”

Section: Introductionmentioning

confidence: 99%

“…Simple model representations like the effective leg help to understand basic strategies for stability or economy of locomotion e.g., 4,5,17,[26][27][28] and can be used as global goals for the control of limb joints 29 . During unrestricted locomotion there is evidence of an interplay between effective leg and limb segmental angles.…”

Section: Introductionmentioning

confidence: 99%

Limb, joint and pelvic kinematic control in the quail coping with step perturbations

Andrada

Mothes

Stark

et al. 2022

Preprint

Self Cite

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Small cursorial birds display remarkable walking skills and can negotiate complex and unstructured terrains with ease. The neuromechanical control strategies necessary to adapt to these challenging terrains are still not well understood. Here, we analyzed the 2D- and 3D pelvic and leg kinematic strategies employed by the common quail to negotiate visible step-up and step-down perturbations of 1 cm, 2.5 cm, and 5 cm. We used biplanar fluoroscopy to accurately describe joint positions in three dimensions and performed semi-automatic landmark localization using deep learning. Quails negotiated vertical perturbations without major problems and rapidly regained steady-state locomotion. When coping with step-up perturbations, the quail mostly adapted the trailing limb to permit the leading leg to step on the elevated substrate in a similar way as it did during level locomotion. When the quail negotiated step-down perturbations, both legs showed significant adaptations. For small and moderate perturbations (not inducing aerial running) the quail kept the function of the distal joints (i.e., their kinematic pattern) largely unchanged during uneven locomotion, and most changes occurred in proximal joints. The hip regulated leg length, while the distal joints maintained the spring-damped limb patterns. However, to negotiate the largest visible step perturbations, more dramatic kinematic alterations were observed. For these large perturbations, all joints contributed to leg lengthening/ shortening in the trailing leg and both the trailing and leading legs stepped more vertically and less abducted. This indicates a shift from a dynamic walking program to strategies that are focused on maximizing safety.

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Discovery and Interactive Representation of the Dimensionless Parameter-Space of the Spring-Loaded Inverted Pendulum Model of Legged Locomotion Using Surface Interpolation

Nagy,

Patkó,

Zelei

2012

Springer Proceedings in Mathematics &Amp; Statistics

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Low leg compliance permits grounded running at speeds where the inverted pendulum model gets airborne

Cited by 11 publications

References 66 publications

Limb, joint and pelvic kinematic control in the quail coping with steps upwards and downwards

Limb, joint and pelvic kinematic control in the quail coping with steps upwards and downwards

Limb, joint and pelvic kinematic control in the quail coping with step perturbations

Discovery and Interactive Representation of the Dimensionless Parameter-Space of the Spring-Loaded Inverted Pendulum Model of Legged Locomotion Using Surface Interpolation

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