Three-Dimensional Running is Unstable but Easily Stabilized

Holmes, Philip

doi:10.1007/3-540-29461-9_58

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…Studies on designing running robots, has shown that active control input is required to facilitate any recovery from perturbations (Hyon & Emura, 2004;McGeer, 1990;Raibert et al, 1989). These findings are therefore, aligned with the results of our study where participants tried to functionally respond to inherent local perturbations (for a study on the stability of running in the ML direction, see Seipel & Holmes, 2005).…”

Section: Dynamic Stability In Primary Versus Secondary Planes Of Progsupporting

confidence: 86%

Quantifying foot placement variability and dynamic stability of movement to assess control mechanisms during forward and lateral running

Arshi

Mehdizadeh

Davids

2015

Journal of Biomechanics

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Research has indicated that human walking is more unstable in the secondary, rather than primary plane of progression. However, the mechanisms of controlling dynamic stability in different planes of progression during running remain unknown. The aim of this study was to compare variability (standard deviation and coefficient of variation) and dynamic stability (sample entropy and local divergence exponent) in anterior-posterior and medio-lateral directions in forward and lateral running patterns. For this purpose, fifteen healthy, male participants ran in a forward and lateral direction on a treadmill at their preferred running speeds. Coordinate data of passive reflective markers attached to body segments were recorded using a motion capture system. Results indicated that: (1) there is lower dynamic stability in the primary plane of progression during both forward and lateral running suggesting that, unlike walking, greater control might be required to regulate dynamic stability in the primary plane of progression during running, (2) as in walking, the control of stability in anterior-posterior and medio-lateral directions of running is dependent on the direction of progression, and (3), quantifying magnitude of variability might not be sufficient to understand control mechanisms in human movement and directly measuring dynamic stability could be an appropriate alternative.

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Section: Dynamic Stability In Primary Versus Secondary Planes Of Progsupporting

confidence: 86%

Quantifying foot placement variability and dynamic stability of movement to assess control mechanisms during forward and lateral running

Arshi

Mehdizadeh

Davids

2015

Journal of Biomechanics

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“…Seipel and Holmes [57,58] use the gravity-free stance approximation, which implies that the mass center remains within a plane spanned by the touchdown velocity and leg placement vectors during stance, and allows them to adapt the present analysis. They show that periodic gaits are all unstable to toppling out of the saggital plane, but that orbits can easily be stabilized by feedback adjustments of leg angle based on mass center velocity at touchdown.…”

Section: Discussionmentioning

confidence: 99%

A Simply Stabilized Running Model

et al. 2005

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The spring-loaded inverted pendulum (SLIP), or monopedal hopper, is an archetypal model for running in numerous animal species. Although locomotion is generally considered a complex task requiring sophisticated control strategies to account for coordination and stability, we show that stable gaits can be found in the SLIP with both linear and "air" springs, controlled by a simple fixed-leg reset policy. We first derive touchdown-to-touchdown Poincaré maps under the common assumption of negligible gravitational effects during the stance phase. We subsequently include and assess these effects and briefly consider coupling to pitching motions. We investigate the domains of attraction of symmetric periodic gaits and bifurcations from the branches of stable gaits in terms of nondimensional parameters.1. Introduction. Locomotion, "moving the body's locus," is among the most fundamental of animal behaviors [1]. A large motor science literature addresses gait pattern selection [2], energy expenditure [3], underlying neurophysiology [4], and coordination in animals and machines [5]. In this paper, we explore the stabilizing effect of a very simple control policy on a very simple running model. Legged locomotion is generally considered a complex task [6] involving the coordination of many limbs and redundant degrees of freedom [7]. In [8], Full and Koditschek note that "locomotion results from complex, high-dimensional, non-linear, dynamically coupled interactions between an organism and its environment." They distinguish locomotion models simplified for the purpose of task specification (templates)

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Balancing and hopping motion control algorithms for an under-actuated robot

Azad¹

2014

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Three-Dimensional Running is Unstable but Easily Stabilized

Cited by 3 publications

References 8 publications

Quantifying foot placement variability and dynamic stability of movement to assess control mechanisms during forward and lateral running

Quantifying foot placement variability and dynamic stability of movement to assess control mechanisms during forward and lateral running

A Simply Stabilized Running Model

Balancing and hopping motion control algorithms for an under-actuated robot

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