OPTIMUM WALKING TECHNIQUES FOR QUADRUPEDS AND BIPEDS
OPTIMUM WALKING TECHNIQUES FOR QUADRUPEDS AND BIPEDS
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DOI：
10.1111/j.1469-7998.1980.tb04222.x
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发表时间：
1980-01-01
影响因子：
2
通讯作者：
ALEXANDER, RM
中科院分区：
文献类型：
--
作者：
ALEXANDER, RM
提出了一种新的理论，它描述了四足以及两足步行。它避免了以往理论中出现的错误，通过单独计算每个腿所做的功，而不是从机械能波动中得出净功。它特别考虑了两个参数，占空因数β（每只脚在地面上的步幅的分数）和参数q，参数q定义了每只脚上的力的时间过程。它表明，对于任何给定的速度，都存在一个最优值（β，q），使运动的能量消耗最小。这些（β，q）对于两足动物和四足动物来说只有一点不同，除了在临界速度附近，最佳速度突然从步行（高β）变为跑步（低β）。散步的人使用的（β，q）接近理论最优值，但q略高。散步的狗和羊使用的q低于最优值，除了在很低的速度。运动所需的一些能量可以通过在肌腱等中储存弹性应变能来节省。这种机制在跑步中比在快速行走中更有效，这可能是为什么人们从步行转变为以比非弹性理论所建议的更低的速度跑步的原因。
A new theory is presented which describes quadrupedal as well as bipedal walking. It avoids errors which occurred in previous theories by evaluating separately the work done by each leg instead of deriving net work from mechanical energy fluctuations. It takes particular account of two parameters, the duty factor β (the fraction of the stride for which each foot is on the ground) and a parameter q which defines the time course of the force on each foot. It shows that for any given speed there is an optimum (β,q) which minimizes the energy cost of locomotion. These (β,q) are only a little different for bipeds and quadrupeds except near the critical speed at which the optimum moves abruptly from walking (high β) to running (low β). Walking men use (β,q) close to the theoretical optima, but with slightly higherq.Walking dogs and sheep useqwhich are lower than the optimum values except at very low speeds. Some of the energy which would otherwise be required for locomotion may be saved by storage of elastic strain energy in tendons etc. This mechanism is more effective in running than in fast walking, which may be why men change from walking to running at lower speeds than the inelastic theory suggests.