A simple model for clock-actuated legged locomotion

DOI10.1134/S1560354707050048MaRDI QIDQ655281zbMATHFDO

Authors Justin E. Seipel, Philip Holmes

Publication date 3 January 2012

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

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)

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Cites work

• scientific article; zbMATH DE number 4028448 (Why is no real title available?)
• scientific article; zbMATH DE number 53638 (Why is no real title available?)
• scientific article; zbMATH DE number 1871383 (Why is no real title available?)
• A Simply Stabilized Running Model
• Dynamics and stability of insect locomotion: a hexapedal model for horizontal plane motions
• Mechanical models for insect locomotion: Dynamics and stability in the horizontal plane. I: Theory.
• Mechanical models for insect locomotion: Stability and parameter studies
• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
• Special issue: Implementation of geometric algorithms
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
• Towards a neuromechanical model for insect locomotion: hybrid dynamical systems

Cited in

(20)

• An approximate solution of the SLIP model under the regime of linear angular dynamics during stance and the stability of symmetric periodic running gaits
• Effective leg stiffness of animal running and the co-optimization of energetic cost and stability
• Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
• A Simply Stabilized Running Model
• Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots
• Lateral stability of the spring-mass Hopper suggests a two-step control strategy for running
• Animals prefer leg stiffness values that may reduce the energetic cost of locomotion
• A spring-assisted one-degree-of-freedom climbing model
• Discovery and interactive representation of the dimensionless parameter-space of the spring-loaded inverted pendulum model of legged locomotion using surface interpolation
• Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
• On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems
• The leg stiffnesses animals use may improve the stability of locomotion
• How well can spring-mass-like telescoping leg models fit multi-pedal sagittal-plane locomotion data?
• Compliant ankle function results in landing-take off asymmetry in legged locomotion
• A simple extension of inverted pendulum template to explain features of slow walking
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
• A Simply Stabilized Running Model
• A 3D Model of One-Legged Hopping Machine
• Dynamic bipedal walking under stick-slip transitions
• Asymptotic solution of a boundary value problem for a spring-mass model of legged locomotion

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