Minimally actuated walking: Identifying core challenges to economical legged locomotion reveals novel solutions

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dc.contributor.authorSchroeder, Ryan T.
dc.contributor.authorBertram, John Edward Arthur
dc.date.accessioned2018-06-27T15:44:49Z
dc.date.available2018-06-27T15:44:49Z
dc.date.issued2018-05-22
dc.description.abstractTerrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In the context of human walking, we apply control optimization as a design strategy for simple bipedal walking machines with minimal actuation. This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers. Furthermore, we extrapolate the approach to a novel application—a theoretical exoskeleton attached to the trunk of a human walker—to demonstrate how coordinated efforts between bipedal actuation and a machine oscillator can potentially alleviate a meaningful portion of energetic exertion associated with leg function during human walking.en_US
dc.description.grantingagencyNatural Sciences and Engineering Research Council - Discovery Granten_US
dc.description.sponsorshipSponsored by the Open Access Authors Funden_US
dc.identifier.citationSchroeder, R. T., & Bertram J. E. A. (2018). Minimally actuated walking: Identifying core challenges to economical legged locomotion reveals novel solutions. Front. Robot. AI, 5(58). doi: 10.3389/frobt.2018.00058en_US
dc.identifier.doi10.3389/frobt.2018.00058en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/35041
dc.identifier.grantnumber312117-2012en_US
dc.identifier.issn2296-9144
dc.identifier.urihttp://hdl.handle.net/1880/106790
dc.language.isoenen_US
dc.publisherFrontiers Mediaen_US
dc.publisher.facultySchulich School of Engineeringen_US
dc.publisher.institutionUniversity of Calgaryen_US
dc.publisher.policyhttps://www.frontiersin.org/about/author-guidelines#OpenAccessen_US
dc.rightsUnless otherwise indicated, this material is protected by copyright and has been made available with authorization from the copyright owner. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.en_US
dc.rights.urihttps://creativecommons.org/licenses/by/4.0en_US
dc.subjectBipedal locomotionen_US
dc.subjectControl optimizationen_US
dc.subjectEnergeticsen_US
dc.subjectDynamics modellingen_US
dc.subjectWork minimizationen_US
dc.titleMinimally actuated walking: Identifying core challenges to economical legged locomotion reveals novel solutionsen_US
dc.typejournal articleen_US
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