excerpt from the book: Marko B. Popovic, Biomechanics and Robotics, Pan Stanford Publishing Pte. Ltd., 2013 (No of pages 351) Print ISBN: 9789814411370, eBook ISBN: 9789814411387, DOI: 10.4032/9789814411387 Copyright © 2014 by Pan Stanford Publishing Pte. Ltd.

Chapter 5.

Locomotion

Chapter outline:

Locomotion Definition 127

Locomotion and General Principles of Physics 128

Physics of Locomotion in Fluids 128

Buoyancy 128

The Bernoulli’s Principle 129

Drag 130

Viscosity 134

Navier–Stokes Equations and Reynolds Number 134

Locomotion in Fluids 137

Locomotion in Fluids and Reynolds Number 139

Aquatic Locomotion 140

Aircraft Flying 142

Birds Flying 143

Drag-Induced Motion 143

Biologically Inspired Ornithopters 145

Ornithopters capable of carrying a human 147

Flying Power Requirements: Flapping vs. Fixed Wings 148

Bacterial Flagella and Biological Rotary Motors 153

Physics of Terrestrial Locomotion 154

Why Legs? 154

Zero-Moment Point (ZMP) and Center of Pressure (CP) 155

The Equivalence of the ZMP and the CP for Horizontal Contact Surfaces 158

The Uniqueness of the ZMP and the CP for Complex Contact Topologies 160

Centroidal Moment Pivot (CMP) Point 161

Physics of Balance and Stability 162

Human Walking and Optimal Trajectories 167

Human Walking Energy Considerations 167

Angular Momentum 169

Balance, Stability, Energy 171

Spring Mass Model for Running and Allometry 172

Allometric Observations 173

Examples of Biological Legged Locomotion 176

A Few Records in the Legged Animal Kingdom 176

Various Gaits 179

References and Suggested Reading 184

[chapter content intentionally omitted]

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