Computer optimization of a minimal biped model discovers walking and running

Manoj Srinivasan () and Andy Ruina
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Manoj Srinivasan: Theoretical and Applied Mechanics, Cornell University
Andy Ruina: Theoretical and Applied Mechanics, Cornell University

Nature, 2006, vol. 439, issue 7072, 72-75

Abstract: Walk don't pendulate From the infinite number of gaits that human legs are capable of, we choose either to walk or run. Is this because these are the most energetically efficient gaits available? Srinivasan and Ruina used a computational model to evaluate an infinity of different gaits by reducing them to principles of simple newtonian mechanics, calculating how much energy each style requires to move the same mass. They find that walking, running and a mixture of the two called ‘pendular running’ each have speeds where they are the optimal gaits. Real people, however, eschew pendular running entirely, so the simple picture of locomotion provided by the model may overlook factors that make pendular running impractical in the real world.

Date: 2006
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DOI: 10.1038/nature04113

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