A Simply Stabilized Running Model

DOI10.1137/S1111111102408311zbMath1088.34517OpenAlexW1968196344MaRDI QIDQ4706177

No author found.

Publication date: 19 June 2003

Published in: SIAM Journal on Applied Dynamical Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1137/s1111111102408311

zbMATH Keywords

stabilitybifurcationperiodic gaitslegged locomotionspring-loaded inverted pendulum

Mathematics Subject Classification ID

Bifurcation problems for finite-dimensional Hamiltonian and Lagrangian systems (37J20) Bifurcation theory for ordinary differential equations (34C23) Equilibria and periodic trajectories for nonlinear problems in mechanics (70K42) Bifurcations and instability for nonlinear problems in mechanics (70K50) Stability problems for finite-dimensional Hamiltonian and Lagrangian systems (37J25) Nonholonomic dynamical systems (37J60) Hamiltonian and Lagrangian mechanics (70Hxx)

Related Items (14)

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots ⋮ Improving horizontal plane locomotion via leg angle control ⋮ A model for insect locomotion in the horizontal plane: feedforward activation of fast muscles, stability, and robustness ⋮ The leg stiffnesses animals use may improve the stability of locomotion ⋮ Self-stability of a simple walking model driven by a rhythmic signal ⋮ Leg recirculation in horizontal plane locomotion ⋮ Effective leg stiffness of animal running and the co-optimization of energetic cost and stability ⋮ Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs ⋮ Symmetries and periodic orbits in simple hybrid Routhian systems ⋮ Animals prefer leg stiffness values that may reduce the energetic cost of locomotion ⋮ A simple model for clock-actuated legged locomotion ⋮ How well can spring-mass-like telescoping leg models fit multi-pedal sagittal-plane locomotion data? ⋮ Spring-mass running: simple approximate solution and application to gait stability ⋮ Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper

This page was built for publication: A Simply Stabilized Running Model