nartreb wrote:In practice most people don't walk with the CM held at constant height. Instead the CM makes a series of (catenary?) arches like the CM of a triangular object being rolled over the ground. I wonder which is more efficient, a bouncy walk with straight knees (what I just described) or a creeping walk where the knees bend while the leg is under the body, to avoid bouncing? My guess is that the muscle strain of a creeping walk (weight is always carried on bent knees) is more tiring than the extra vertical work of a bouncing walk.
A human's movement over terrain is much more varied than can be defined through some "either - or" viewpoint. Every step is unique. Our bodies are stabilized and move, from head to toe, by much more than just muscles and skeletal structures.
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