A simple model for clock-actuated legged locomotion

DOI10.1134/S1560354707050048zbMATH Open1229.70028MaRDI QIDQ655281FDOQ655281

Authors: Justin E. Seipel, Philip Holmes 

Publication date: 3 January 2012

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

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zbMATH Keywords

stabilitybiomechanicsroboticsanimal locomotion

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Biomechanics (92C10) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
• Towards a neuromechanical model for insect locomotion: hybrid dynamical systems
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• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
• A Simply Stabilized Running Model
• Mechanical models for insect locomotion: Dynamics and stability in the horizontal plane. I: Theory.
• Dynamics and stability of insect locomotion: a hexapedal model for horizontal plane motions
• Title not available (Why is that?)
• Special issue: Implementation of geometric algorithms
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• Mechanical models for insect locomotion: Stability and parameter studies

Cited In (16)

• How well can spring-mass-like telescoping leg models fit multi-pedal sagittal-plane locomotion data?
• Asymptotic solution of a boundary value problem for a spring-mass model of legged locomotion
• Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
• Lateral stability of the spring-mass hopper suggests a two-step control strategy for running
• A 3D Model of One-Legged Hopping Machine
• A Simply Stabilized Running Model
• Dynamic Bipedal Walking under Stick-Slip Transitions
• A Simply Stabilized Running Model
• Animals prefer leg stiffness values that may reduce the energetic cost of locomotion
• The leg stiffnesses animals use may improve the stability of locomotion
• Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
• Effective leg stiffness of animal running and the co-optimization of energetic cost and stability
• Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots
• A simple extension of inverted pendulum template to explain features of slow walking
• On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems

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