title: Walking model with no energy cost.
abstract: We have numerically found periodic collisionless motions of a walking model consisting of linked rigid objects. Unlike previous designs, this model can walk on level ground at noninfinitesimal speed with zero energy input. The model avoids collisional losses by using an internal mode of oscillation: swaying of the upper body coupled to the legs by springs. Appropriate synchronized internal oscillations set the foot-strike collision to zero velocity. The concept might be of use for energy-efficient robots and may also help to explain aspects of human and animal locomotion efficiency.
authors.affiliation: School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York 14853, USA. mwgeme@rit.edu
authors.forename: Mario
authors.initials: M
authors.lastname: Gomes
authors.forename: Andy
authors.initials: A
authors.lastname: Ruina
mesh_terms: D000818:Animals; D001696:Biomechanical Phenomena; D001703:Biophysics / Q000379:methods*; D004734:Energy Metabolism; D004867:Equipment Design; D017276:Friction; D006801:Humans; D008124:Locomotion; D008953:Models, Anatomic; D009038:Motion; D009068:Movement; D009991:Oscillometry / Q000379:methods; D012371:Robotics; D013997:Time Factors; D016138:Walking / Q000502:physiology*