Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance (2013)
Journal Article
Vejdani, H. R., Blum, Y., Daley, M. A., & Hurst, J. W. (2013). Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance. https://doi.org/10.1088/1748-3182/8/4/046006

We proposed three swing leg control policies for spring-mass running robots, inspired by experimental data from our recent collaborative work on ground running birds. Previous investigations suggest that animals may prioritize injury avoidance and/or... Read More about Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance.

Biomechanics and energetics of walking on uneven terrain (2013)
Journal Article
Voloshina, A. S., Kuo, A. D., Daley, M. A., & Ferris, D. P. (2013). Biomechanics and energetics of walking on uneven terrain. Journal of Experimental Biology, 216(21), 3963-3970. https://doi.org/10.1242/jeb.081711

Walking on uneven terrain is more energetically costly than walking on smooth ground, but the biomechanical factors that contribute to this increase are unknown. To identify possible factors, we constructed an uneven terrain treadmill that allowed us... Read More about Biomechanics and energetics of walking on uneven terrain.

Locomotion dynamics of hunting in wild cheetahs (2013)
Journal Article
Wilson, A. M., Lowe, J. C., Roskilly, K., Hudson, P. E., Golabek, K. A., & McNutt, J. W. (2013). Locomotion dynamics of hunting in wild cheetahs. Nature, 498(7453), 185-189. https://doi.org/10.1038/nature12295

Vaulting mechanics successfully predict decrease in walk-run transition speed with incline (2013)
Journal Article
Hubel, T. Y., & Usherwood, J. R. (2013). Vaulting mechanics successfully predict decrease in walk-run transition speed with incline. Biology Letters, 9(2), https://doi.org/10.1098/rsbl.2012.1121

There is an ongoing debate about the reasons underlying gait transition in terrestrial locomotion. In bipedal locomotion, the ‘compass gait’, a reductionist model of inverted pendulum walking, predicts the boundaries of speed and step length within w... Read More about Vaulting mechanics successfully predict decrease in walk-run transition speed with incline.