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A little damping goes a long way: a simulation study of how damping influences task-level stability in running

2020

Article

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It is currently unclear if damping plays a functional role in legged locomotion, and simple models often do not include damping terms. We present a new model with a damping term that is isolated from other parameters: that is, the damping term can be adjusted without retuning other model parameters for nominal motion. We systematically compare how increased damping affects stability in the face of unexpected ground-height perturbations. Unlike most studies, we focus on task-level stability: instead of observing whether trajectories converge towards a nominal limit-cycle, we quantify the ability to avoid falls using a recently developed mathematical measure. This measure allows trajectories to be compared quantitatively instead of only being separated into a binary classification of ‘stable' or ‘unstable'. Our simulation study shows that increased damping contributes significantly to task-level stability; however, this benefit quickly plateaus after only a small amount of damping. These results suggest that the low intrinsic damping values observed experimentally may have stability benefits and are not simply minimized for energetic reasons. All Python code and data needed to generate our results are available open source.

Author(s): Heim, Steve and Millard, Matthew and Le Mouel, Charlotte and Badri-Spröwitz, Alexander
Journal: Biology Letters
Volume: 16
Number (issue): 9
Pages: 20200467
Year: 2020
Month: September
Day: 23

Department(s): Dynamic Locomotion, Intelligent Control Systems
Research Project(s): Damping and velocity dependent forces in legged locomotion
Bibtex Type: Article (article)
Paper Type: Journal

DOI: 10.1098/rsbl.2020.0467
State: Published
URL: https://doi.org/10.1098/rsbl.2020.0467

BibTex

@article{heim2020damping,
  title = {A little damping goes a long way: a simulation study of how damping influences task-level stability in running},
  author = {Heim, Steve and Millard, Matthew and Le Mouel, Charlotte and Badri-Spr{\"o}witz, Alexander},
  journal = {Biology Letters},
  volume = {16},
  number = {9},
  pages = {20200467},
  month = sep,
  year = {2020},
  doi = {10.1098/rsbl.2020.0467},
  url = {https://doi.org/10.1098/rsbl.2020.0467},
  month_numeric = {9}
}