Biomechanics of walking and running

Jitendra Malik

Biomechanics of Movement�The Science of Sports, Robotics, and Rehabilitation��Thomas K. Uchida and Scott L. Delp�Illustrations by David Delp

Chapter 2: Walking

Figures and Equations

Figure 2.2

Figure 2.3

Equations 2.1–2.4

Figure 2.4

Figure 2.6

Figure 2.7

Figure 2.8

Figure 2.9

Equations 2.5–2.8

Figure 2.1

Figure 2.12

Figure 2.11

Figure 2.15

Figure 2.16

Figure 2.17

Figure 2.18

Figure 2.19

Figure 2.20

Biomechanics of Movement�The Science of Sports, Robotics, and Rehabilitation��Thomas K. Uchida and Scott L. Delp�Illustrations by David Delp

Chapter 3: Running

Figures and Equations

Figure 3.1

Figure 3.2

Figure 3.3

Figure 3.4

Figure 3.5

Figure 3.15

Figure 3.16

Figure 3.17

Figure 3.20

Figure 3.21

Figure 3.19

Figure 3.8

Figure 3.9

Animal Gaits

-Stephen Cunnane

Computational Gaits

Hildebrand (1965)

​

Computational Gaits - Central Pattern Generators

Matsuoka, Kiyotoshi. "Mechanisms of frequency and pattern control in the neural rhythm generators." Biological cybernetics (1987)

Figure 3.18

Minimizing Energy Consumption Leads to the

Emergence of Gaits in Legged Robots

Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak

CMU

CMU

UC Berkeley

UC Berkeley

Conference on Robot Learning 2021

Trot through a Grass Trench

Bounce (Gallop): robust to abrupt human pulls