From Walking to Running

  • Juergen Rummel
  • Yvonne Blum
  • Andre Seyfarth
Part of the Informatik aktuell book series (INFORMAT)


The implementation of bipedal gaits in legged robots is still a challenge in state-of-the-art engineering. Human gaits could be realized by imitating human leg dynamics where a spring-like leg behavior is found as represented in the bipedal spring-mass model. In this study we explore the gap between walking and running by investigating periodic gait patterns. We found an almost continuous morphing of gait patterns between walking and running. The technical feasibility of this transition is, however, restricted by the duration of swing phase. In practice, this requires an abrupt gait transition between both gaits, while a change of speed is not necessary.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Juergen Rummel
    • 1
  • Yvonne Blum
    • 1
  • Andre Seyfarth
    • 1
  1. 1.Lauflabor Locomotion LaboratoryUniversity of JenaJenaGermany

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