Passive Dynamic Walking with Arms: Sagittal Plane Bifurcation and Stability
Bibliographic record
Abstract
Human locomotion is very efficient and adaptable, with many passive and active musculoskeletal elements responsible for the generated motion. Passive oscillation of the arms may be an important contributing factor to gait efficiency and stability as it has been associated with better energetic performance and three-dimensional stability by lowering the ground reaction moment. However, its influence on sagittal plane gait characteristics is often overlooked and requires a detailed analysis to effectively utilize arm swinging in bioin-spired robotics, musculoskeletal modeling, and assistive systems design. In this study, we develop an anthropomorphic planar passive dynamic walker with arms and detect different modes of arm swinging patterns as the natural dynamic response of the system. Two types of 1-periodic stable gaits with parallel and opposing swinging patterns are generated which are producible independently on a range of slope angles. Stability with respect to slope angles is analyzed for a range of damping values in the arms (0.01, 0.055, and 0.07 Nms/rad) and swing knees (0.00, 0.015, and 0.15 Nms/rad) and compared with a similar model without arms. It is demonstrated that the addition of opposing arm oscillations can increase the range of slope angles with 1-periodic stable gaits by up to 8% without noticeably affecting the kinematics of the lower limbs. The range of slope angles with 1-periodic stable gaits was noticeably wider (up to 98%) for opposing arm swinging than parallel arm swinging. This work shows that two-dimensional musculoskeletal models and bipedal walkers can benefit from the inclusion of passive arms for higher stability and increased anthropomorphism.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".