Energy efficient walking with central pattern generators: from passive dynamic walking to biologically inspired control

@article{Verdaasdonk2009EnergyEW,
  title={Energy efficient walking with central pattern generators: from passive dynamic walking to biologically inspired control},
  author={B. W. Verdaasdonk and H. F. J. M. Koopman and Frans C. T. van der Helm},
  journal={Biological Cybernetics},
  year={2009},
  volume={101},
  pages={49-61}
}
Like human walking, passive dynamic walking—i.e. walking down a slope with no actuation except gravity—is energy efficient by exploiting the natural dynamics. In the animal world, neural oscillators termed central pattern generators (CPGs) provide the basic rhythm for muscular activity in locomotion. We present a CPG model, which automatically tunes into the resonance frequency of the passive dynamics of a bipedal walker, i.e. the CPG model exhibits resonance tuning behavior. Each leg is… CONTINUE READING

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