Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Factors associated with gym-based fitness injuries: A case-control study.

JSAMS plus·2026
Same author

What the PCSA? Addressing diversity in lower-limb musculoskeletal models: age- and sex-related differences in PCSA and muscle mass.

Journal of biomechanics·2025
Same author

Instrumented assessment of lower and upper motor neuron signs in amyotrophic lateral sclerosis using robotic manipulation: an explorative study.

Journal of neuroengineering and rehabilitation·2024
Same author

Effects of bench press technique variations on musculoskeletal shoulder loads and potential injury risk.

Frontiers in physiology·2024
Same author

Predictability of Fall Risk Assessments in Community-Dwelling Older Adults: A Scoping Review.

Sensors (Basel, Switzerland)·2023
Same author

Power in sports: A literature review on the application, assumptions, and terminology of mechanical power in sport research.

Journal of biomechanics·2018

Related Experiment Video

Updated: Jun 22, 2026

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
11:16

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Published on: July 22, 2014

Energy efficient walking with central pattern generators: from passive dynamic walking to biologically inspired

B W Verdaasdonk1, H F J M Koopman, F C T van der Helm

  • 1Department of Bio-mechanical Engineering, Faculty of Engineering Technology, University of Twente, 7500 AE, Enschede, The Netherlands. bart.verdaasdonk@bosch.com

Biological Cybernetics
|June 9, 2009
PubMed
Summary

This study introduces a central pattern generator (CPG) model that tunes into the natural resonance frequency of passive dynamic walkers. This model enables energy-efficient, controlled walking by adjusting gait velocity with a single parameter.

More Related Videos

Studying the Neural Basis of Adaptive Locomotor Behavior in Insects
10:19

Studying the Neural Basis of Adaptive Locomotor Behavior in Insects

Published on: April 13, 2011

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
08:24

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Related Experiment Videos

Last Updated: Jun 22, 2026

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
11:16

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Published on: July 22, 2014

Studying the Neural Basis of Adaptive Locomotor Behavior in Insects
10:19

Studying the Neural Basis of Adaptive Locomotor Behavior in Insects

Published on: April 13, 2011

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
08:24

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Area of Science:

  • Robotics
  • Biomechanical Engineering
  • Neuroscience

Background:

  • Passive dynamic walking, mimicking human gait, leverages natural dynamics for energy efficiency.
  • Central pattern generators (CPGs) in animals produce rhythmic locomotion.
  • Existing models often lack efficient control mechanisms for passive dynamic walkers.

Purpose of the Study:

  • To develop a central pattern generator (CPG) model for bipedal walkers.
  • To achieve resonance tuning between the CPG and the passive dynamics of the walker.
  • To enable single-parameter control of gait velocity while maintaining energy efficiency.

Main Methods:

  • Each leg of the bipedal walker is coupled to its own CPG, controlling hip moment.
  • Resonance tuning is achieved through feedback of limb angles and angular velocities to the CPGs.
  • Integration of limb angles provides tuning at/below the CPG's endogenous frequency; feedback of angles provides tuning above it.

Main Results:

  • The CPG model successfully exhibits resonance tuning with the passive walker's dynamics.
  • Feedback mechanisms effectively compensate for time delays in the CPG-limb coupling.
  • Gait velocity is controllable via a single parameter, demonstrating effective locomotion control.

Conclusions:

  • The developed CPG model enhances passive dynamic walking by enabling resonance tuning.
  • This approach allows for efficient and controlled locomotion in bipedal robots.
  • The findings contribute to the development of more energy-efficient and adaptable robotic locomotion systems.