Improving horizontal plane locomotion via leg angle control

DOI10.1016/J.JTBI.2008.09.020zbMath1400.92054OpenAlexW2042681681WikidataQ47275071 ScholiaQ47275071MaRDI QIDQ1617362

R. Smith

Publication date: 8 November 2018

Published in: Journal of Theoretical Biology (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jtbi.2008.09.020

zbMATH Keywords

stabilitylateral leg spring modelleg angle control

Mathematics Subject Classification ID

Feedback control (93B52) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) PDEs in connection with biology, chemistry and other natural sciences (35Q92) Biomechanics (92C10)

Cites Work

• A hexapedal jointed-leg model for insect locomotion in the horizontal plane
• Mechanical models for insect locomotion: Dynamics and stability in the horizontal plane. I: Theory.
• Mechanical models for insect locomotion: Dynamics and stability in the horizontal plane. II: Application.
• Approximating the stance of a 2-DOF monoped runner
• Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects
• Legged robots
• A Simply Stabilized Running Model
• Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion
• Simple Feedback Control of Cockroach Running
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
• Mechanical models for insect locomotion: Stability and parameter studies

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