Theory 039/Robotics & Autonomy
Gait Has a Frequency Optimum
The claim
Legged locomotion efficiency peaks at a stride frequency set by the ratio of natural leg frequency to speed, not at the frequency that minimises cost of transport empirically.
01The mechanism
At resonance, elastic energy recovery is maximal; deviating either way raises the cost of swinging and supporting.
02Predictions
- P1Efficiency should peak at the ratio.
- P2Changing leg stiffness should shift the optimum.
03Refutation
Efficiency peaking independently of natural frequency would remove the resonance account.