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Principles of Energetics and Stability in Legged Locomotion

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Humanoid Robotics: A Reference

Abstract

People are skilled walkers and runners. We move with economy, agility, and speed and can do so even while we travel through our rough and variable world. Present-day humanoid robots are certainly much less capable than humans at accomplishing the same locomotor tasks [1]. One potential path to improving the design and control of robots is to draw inspiration and guidance from biology. That is, we may be able to build more capable robots if we better understand how people move. One argument against this possibility is that humans and robots are comprised of fundamentally different components. Where robots are built using metals, encoders, wires, computers, magnetic motors, and batteries, humans have evolved to use bone, sensory cells, nerves, brains, muscles, and food.

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Authors and Affiliations

  1. Human Performance Laboratory, Department of Kinesiology, University of Calgary, 2500 University Dr NW, T2N 1N4, Calgary, Canada

    Jeremy D. Wong

  2. Department of Biomedical Physiology and Kinesiology, Simon Fraser University, 8888 University Dr, BC V5A 1S6, Burnaby, Canada

    J. Maxwell Donelan

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  1. Jeremy D. Wong
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  2. J. Maxwell Donelan
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Correspondence to Jeremy D. Wong .

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  1. Intuitive Surgical , Sunnyvale, California, USA

    Ambarish Goswami

  2. Singapore, Singapur, Singapore

    Prahlad Vadakkepat

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Wong, J.D., Maxwell Donelan, J. (2017). Principles of Energetics and Stability in Legged Locomotion. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7194-9_67-1

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