3D passive walkers: Finding periodic gaits in the presence of discontinuities (Q5931819)

The dynamics of mechanical models such as three-dimensional passive walkers is studied by using standard dynamical systems, i.e. to locate periodic orbits one employs the Newton-Raphson scheme. The authors also apply the derivatives with respect to initial conditions of the dynamical system. In order to derive analytically the ordinary differential equations governing the system, they write out equations that control the evolution of small disturbances. Finally, an analysis of discontinuities is used to investigate the stability of three-dimensional passive walkers. Parameter studies, including the plane inclination, are performed, and numerical results are given in diagrams.