H. Herr, G. Pratt, R. Dennis, N. Rosenthal, and R. Marsh. From swimming to walking: Examples of how biology is helping us design better machines, Second International Congress on Motion Systems, Jena, Germany, Jul. 2001.
H. Herr, G. Pratt, R. Dennis, N. Rosenthal, and R. Marsh. From swimming to walking: Examples of how biology is helping us design better machines, Second International Congress on Motion Systems, Jena, Germany, Jul. 2001.
Three biomimetic machines are presented: an external knee prosthesis, a bipedal robot, and a robotic fish. Here we demonstrate how models of biological movement and actuators that perform like muscle can enhance machine stability, efficiency and dynamic cosmesis. Ideas addressed in the paper include the use of muscle tissue for machine actuation, and how biological models can serve as virtual control elements for the stabilization of bipedal walking machines.