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

DOI10.1134/S1560354708040047zbMath1229.70018MaRDI QIDQ652970

Philip J. Holmes, Joshua L. Proctor

Publication date: 6 January 2012

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

zbMATH Keywords

roboticsbiomechanicshybrid dynamical systeminsect locomotionpassive stabilitypiecewise holonomytransient instabilityturning

Mathematics Subject Classification ID

Motion of a rigid body in contact with a solid surface (70E18) Lagrange's equations (70H03)

Related Items (2)

A model for insect locomotion in the horizontal plane: feedforward activation of fast muscles, stability, and robustness ⋮ The effects of feedback on stability and maneuverability of a phase-reduced model for cockroach locomotion

Cites Work

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• Motions and stability of a piecewise holonomic system: The discrete Chaplygin sleigh
• 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
• Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion
• The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
• Mechanical models for insect locomotion: Stability and parameter studies

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