相关论文: Human Bipedalism, Evolved from Arboreal Locomotion…

Various fossil evidences show that hunting is one of major means of ancient human to get foods. But the running speed of our ancestors was much slower than quadruped animals, and they did not have sharp claws and canines. So, they have to…

The following manuscript reviews various theories of bipedalism and provides a holistic answer to human evolution. There are two questions regarding bipedalism: i) why were the earliest hominins partially bipedal? and ii) why did hominins…

Foot stiffness underlies its mechanical function, and is central to the evolution of human bipedal locomotion. The stiff and propulsive human foot has two distinct arches, the longitudinal and transverse. By contrast, the feet of non-human…

Brachiation is the primary form of locomotion for gibbons and siamangs, in which these primates swing from tree limb to tree limb using only their arms. It is challenging to control because of the limited control authority, the required…

The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant…

During fast locomotion - gallop, half bound - of quadruped mammals, the ground contact of the limbs in each pair do not alternate symmetrically. Animals using such asymmetrical gait thus choose whether the left or the right limb will…

Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…

Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…

Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the…

Quadrupeds transition spontaneously to various gait patterns (e.g., walk, trot, pace, gallop) in response to the locomotion speed. The generation of these gait patterns has been the subject of debate for a long time. We propose a coupled…

Inspired by animals that co-adapt their brain and body to interact with the environment, we present a tendon-driven and over-actuated (i.e., n joint, n+1 actuators) bipedal robot that (i) exploits its backdrivable mechanical properties to…

Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…

We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the…

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…

An overwhelming majority of humans are right-handed. Numerous explanations for individual handedness have been proposed, but this population-level handedness remains puzzling. Here we use a minimal mathematical model to explain this…

Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…

Although typically possessing four limbs and short bodies, lizards have evolved a diversity of body plans, from short-bodied and fully-limbed to elongate and nearly limbless. Such diversity in body morphology is hypothesized as adaptations…

Walking is a common bipedal and quadrupedal gait and is often associated with terrestrial and aquatic organisms. Inspired by recent evidence of the neural underpinnings of primitive aquatic walking in the little skate Leucoraja erinacea, we…