Journal
BIOLOGICAL CYBERNETICS
Volume 86, Issue 5, Pages 343-353Publisher
SPRINGER-VERLAG
DOI: 10.1007/s00422-001-0300-3
Keywords
-
Categories
Ask authors/readers for more resources
Motivated by experimental studies of insects. we propose a model for legged locomotion in the horizontal plane. A three-degree-of freedom. energetically conservative, rigid-body model with a pair of compliant virtual legs in intermittent contact with the ground allows us to study how dynamics depends on parameters such as mass. moment of inertia, leg stiffness, and length. We find periodic gaits, and show that mechanics alone can confer asymptotic stability of relative heading and body angular velocity. We discuss the relevance of our idealized models to experiments and simulations on insect running, showing that their gait and force characteristics match observations reasonably well. We perform parameter studies and suggest that our model is relevant to the understanding of locomotion dynamics across species.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available