Investigation of the acceleration and running-down of a rigid rotor, rotating in hinged and elastic supports

A collisional model of the energetic cos

A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition

✍ Andy Ruina; John E.A. Bertram; Manoj Srinivasan 📂 Article 📅 2005 🏛 Elsevier Science 🌐 English ⚖ 507 KB

Terrestrial legged locomotion requires repeated support forces to redirect the body's vertical velocity component from down to up. We assume that the redirection is accomplished by impulsive leg forces that cause small-angle glancing collisions of a point-mass model of the animal. We estimate the en