Movement Lab - Publications

 

  1. A. Ruina, J.E.A. Bertram and Manoj Srinivasan. A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition. Journal of Theoretical Biology, 237, 170-192, 2005. PDF
  2. Manoj Srinivasan and A. Ruina. Computer optimization of a minimal biped model discovers walking and running. Nature, 439, 72-75, 2006. PDF -- Press coverage -- Webpage with more information
  3. Manoj Srinivasan and A. Ruina. Idealized walking and running gaits minimize work. Proceedings of the Royal Society A, 463, 2429-2446, 2007. PDF -- Press coverage
  4. Manoj Srinivasan and P. Holmes. How well can spring-mass-like telescoping leg models fit multi-pedal sagittal-plane locomotion data? Journal of Theoretical Biology, 255, 1-7, 2008. PDF
  5. Manoj Srinivasan and A. Ruina. Rocking and rolling: A can that appears to rock might actually roll. Physical Review E, 78, 066609, 2008. PDF -- Video of the experiment
  6. Manoj Srinivasan. Chaos in a soda can: Non-periodic rocking of upright cylinders with sensitive dependence on initial conditions. Mechanics Research Communications, 36, 722-727, 2009. PDF
  7. Manoj Srinivasan. Optimal speeds for walking and running, and walking on a moving walkway. Chaos: An Interdisciplinary Journal for Nonlinear Science (Focus Issue: Bipedal Locomotion -- from Robots to Humans), 19, 026112, 2009. PDF -- Press coverage
  8. Manoj Srinivasan and S. Walcott. Binding site models of friction due to the formation and rupture of bonds: State function formalism, force-velocity relations, response to slip velocity transients, and slip stability. Physical Review E, 80, 046124, 2009. PDF - [equal author contribution]
  9. Manoj Srinivasan. Fifteen observations on the structure of energy minimizing gaits in many simple biped models. J. Royal Society Interface, PDF, 2010. Journal link

Ph.D. thesis.

Manoj Srinivasan. Why walk and run: energetic costs and energetic optimality in simple mechanics-based models of a bipedal animal. Ph.D. thesis. Cornell University, Ithaca, NY, May 2006. PDF (1.1 MB)

If you like, you can also see the list of publications on google scholar.

Free software and presentation slides.

I recently gave a basic tutorial on "Trajectory Optimization" at the Conference on Dynamic Walking, 2010, held at the MIT Media Lab. Here are the slides and the MATLAB codes that went with the tutorial. Comments and questions are welcome. For more details, refer to the Interface paper.