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

DOI10.1134/S1560354708040047zbMATH Open1229.70018MaRDI QIDQ652970FDOQ652970

Authors: J. L. Proctor, Philip Holmes 

Publication date: 6 January 2012

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

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

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)

Cites Work

• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
• Title not available (Why is that?)
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
• Nonholonomic stability aspects of piecewise holonomic systems
• 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.
• Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects
• Dynamics and stability of insect locomotion: a hexapedal model for horizontal plane motions
• A hexapedal jointed-leg model for insect locomotion in the horizontal plane
• Motions and stability of a piecewise holonomic system: The discrete Chaplygin sleigh
• Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion
• Mechanical models for insect locomotion: Stability and parameter studies

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

This page was built for publication: Steering by transient destabilization in piecewise-holonomic models of legged locomotion

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q652970)