Understanding how animals actually use their muscles during locomotion is an important goal in the fields of locomotor physiology and biomechanics. Active muscles in vivo can shorten, lengthen or remain isometric, and their mechanical performance depends on the relative magnitude and timing of these patterns of fascicle strain and activation. It has recently been suggested that terrestrial anim...

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

Motivated by physical and numerical observations of time oscillatory “galloping”, “spinning”, and “cellular” instabilities of detonation waves, we study Poincaré–Hopf bifurcation of traveling-wave solutions of viscous conservation laws. The main difficulty is the absence of a spectral gap between oscillatory modes and essential spectrum, preventing standard reduction to a finite-dimensional cen...