2019
DOI: 10.1242/bio.043695
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Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single support phase of walking

Abstract: Despite the overall complexity of legged locomotion, the motion of the center of mass (COM) itself is relatively simple, and can be qualitatively described by simple mechanical models. In particular, walking can be qualitatively modeled by a simple model in which each leg is described by a spring-loaded inverted pendulum (SLIP). However, SLIP has many limitations and is unlikely to serve as a quantitative model. As a first step to obtaining a quantitative model for walking, we explored the ability of SLIP to m… Show more

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Cited by 13 publications
(49 citation statements)
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References 48 publications
(67 reference statements)
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“…As the walking speed increases and the stance duration decreases, the vertical oscillations must occur faster by making the effective leg stiffer (because the time needed for vertical oscillation decreases with increases in spring stiffness). This increase in stiffness has indeed been observed in humans ( Antoniak et al, 2019 ). We found a similar increase in stiffness in flies ( Figure 6D ).…”
Section: Resultssupporting
confidence: 76%
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“…As the walking speed increases and the stance duration decreases, the vertical oscillations must occur faster by making the effective leg stiffer (because the time needed for vertical oscillation decreases with increases in spring stiffness). This increase in stiffness has indeed been observed in humans ( Antoniak et al, 2019 ). We found a similar increase in stiffness in flies ( Figure 6D ).…”
Section: Resultssupporting
confidence: 76%
“…The magnitude of these oscillations is small and reaches a maximum of 10% (of its length at fixed point) about the fixed point. The nondimensional radial spring constant (see 'Materials and methods' for definition) is ~2 compared to >10 for humans ( Antoniak et al, 2019 ). The median was 1.1 × 10 −8 Nm/radian.…”
Section: Resultsmentioning
confidence: 99%
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