Passive bipedal walking with phasic muscle contraction.

  title={Passive bipedal walking with phasic muscle contraction.},
  author={Rob van der Linde},
  journal={Biological cybernetics},
  volume={81 3},
The existence of self-organizing walking patterns is often considered the result of a mechanical system interacting with the environment and a (neural) oscillating unit. The pattern generators might be thought of as an indispensable component for the existence of limit cycle behavior. This paper shows that this is not a necessity for the existence of a self-organizing bipedal walking pattern. Stable walking cycles emerge from a simple passive bipedal structure, with an energy source inevitably… CONTINUE READING
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