Assertion: biped | /r/CapableOf | correlate with muscle work
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text: I consider bipeds with point-mass bodies and massless legs, with or without a knee, with or without a springy tendon in series with the leg muscle and minimizing one of many different ‘metabolic cost’ models—correlated with muscle work, muscle force raised to some power, the Minetti–Alexander quasi-steady approximation to empirical muscle metabolic rate (from heat and ATPase activity), a new cost function called the ‘generalized work cost’ C g having some positivity and convexity properties (and includes the Minetti–Alexander cost and the work cost as special cases), and generalizations thereof.