Mechanical aspects of legged locomotion control.

  • Koditschek D
  • Full R
  • Buehler M
  • 1

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Abstract

We review the mechanical components of an approach to motion science that enlists recent progress in neurophysiology, biomechanics, control systems engineering, and non-linear dynamical systems to explore the integration of muscular, skeletal, and neural mechanics that creates effective locomotor behavior. We use rapid arthropod terrestrial locomotion as the model system because of the wealth of experimental data available. With this foundation, we list a set of hypotheses for the control of movement, outline their mathematical underpinning and show how they have inspired the design of the hexapedal robot, RHex.

Author-supplied keywords

  • 1
  • a single
  • an integrative view of
  • bioinspired robots
  • clearly definable discipline
  • dynamical locomotion
  • hexapod robot
  • insect locomotion
  • introduction
  • motion science
  • motion science has not
  • neuromechanics
  • since the relevant knowledge
  • stable running
  • yet been established as

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Authors

  • Daniel E Koditschek

  • R J Full

  • Martin Buehler

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