Steering by transient destabilization in piecewise-holonomic models of legged locomotion

DOI10.1134/S1560354708040047MaRDI QIDQ652970zbMATH OpenFDO

Authors J. L. Proctor, Philip Holmes

Publication date 6 January 2012

Published in Regular and Chaotic Dynamics (Search for Journal in Brave)

zbMATH Keywords

biomechanicsroboticshybrid dynamical systeminsect locomotionpassive stabilitypiecewise holonomytransient instabilityturning

Mathematics Subject Classification ID

Lagrange's equations (70H03) Motion of a rigid body in contact with a solid surface (70E18)

Recommendations

• 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.
• Mechanical models for insect locomotion: Stability and parameter studies
• Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects
• Leg recirculation in horizontal plane locomotion

Cites work

• scientific article; zbMATH DE number 3066379 (Why is no real title available?)
• A hexapedal jointed-leg model for insect locomotion in the horizontal plane
• Dynamics and stability of insect locomotion: a hexapedal model for horizontal plane motions
• Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects
• 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.
• Mechanical models for insect locomotion: Stability and parameter studies
• Motions and stability of a piecewise holonomic system: The discrete Chaplygin sleigh
• Nonholonomic stability aspects of piecewise holonomic systems
• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
• Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges

Cited in

(3)

• The effects of feedback on stability and maneuverability of a phase-reduced model for cockroach locomotion
• A dynamic model of thoracic differentiation for the control of turning in the stick insect
• A model for insect locomotion in the horizontal plane: feedforward activation of fast muscles, stability, and robustness

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