Fields studying movement generation, including robotics, psychology, cognitive science,
and neuroscience utilize concepts and tools related to the pervasiveness of variability in …

A healthy gait pattern depends on an array of biomechanical features, orchestrated by the
central nervous system for economy and stability. Injuries and other pathologies can alter …

To understand and analyze human behavior, we need to capture humans moving in, and
interacting with, the world. Most existing methods perform 3D human pose estimation …

Human locomotion through natural environments requires precise coordination between the
biomechanics of the bipedal gait cycle and the eye movements that gather the information …

In the single stance phase of walking, center of mass motion resembles that of an inverted
pendulum. Theoretically, mechanical work is not necessary for producing the pendular …

We examine two prevailing, yet surprisingly contradictory, theories of human walking. The
six determinants of gait are kinematic features of gait proposed to minimize the energetic …

It costs several times the metabolic energy for a human to walk as it does to bicycle the same
distance. Walking is often likened to the motion of two coupled pendula, because the stance …

We modified an irreducibly simple model of passive dynamic walking to walk on level
ground, and used it to study the energetics of walking and the preferred relationship …

We studied the selection of preferred step width in human walking by measuring mechanical
and metabolic costs as a function of experimentally manipulated step width (0.00–0.45 L, as …

We present a technique for automatically synthesizing walking and running controllers for
physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of …