... by muscles used during the stance and swing phases of the stride. Metabolic rate, estimated from oxygen consumption, was measured while birds locomoted on a motorized treadmill at speeds from 0.5 to 2.0 m s -1 , either unloaded, or with a mass equivalent to 23% of their body mass carried on their backs...

... velocity throughout the second half of the swing phase. The control scheme allows the spring-mass system to automatically adapt the angle of attack in response to disturbances in forward speed and stance-limb stiffness. Using a return map to investigate system stability, we propose an optimal swing-leg...

...H. Cruse ABSTRACT When a stick insect ( Carausius morosus ) walks on a treadwheel with one leg standing on a platform beside the wheel, this leg can be considered to perform a prolonged stance phase. To elicit a swing phase in this situation, both load and position must decline below definite...