ABSTRACT
This paper establishes mathematical bounds on the minimum synergy dimensionality required for stable locomotion, connecting synergy manifolds' geometric properties to bipedal walking dynamics.
PAPER · PDF
Loading PDF…
Key findings
Minimum synergy dimensionality scales logarithmically with mechanical degrees of freedom.
Stability margins impose a lower bound on synergy dimensionality based on terrain and perturbations.
Optimal synergy dimensionality balances energetic efficiency and robustness to disturbances.
Limitations & open questions
Theoretical framework may require empirical validation across a broader range of locomotion types.
Does not account for individual variability in muscle synergy patterns.