منابع مشابه
Stability in skipping gaits
As an alternative to walking and running, humans are able to skip. However, adult humans avoid it. This fact seems to be related to the higher energetic costs associated with skipping. Still, children, some birds, lemurs and lizards use skipping gaits during daily locomotion. We combined experimental data on humans with numerical simulations to test whether stability and robustness motivate thi...
متن کاملIncreasing Stability in Dynamic Gaits Using Numerical Optimization
Optimal gait planning is applied in this work to the problem of improving stability in quadruped locomotion. In many settings, it is desired to operate legged machines at high performance levels where rapid velocities and a changing environment make stability of utmost concern. Since gait planning still remains a vital component of legged system control design, an efficient method of determinin...
متن کاملNear–simultaneous footfalls lend stability to multi–legged gaits
Parsimonious dynamical models for legged locomotion are piecewise–defined. The state flows in continuous–time according to an ordinary differential equation (ODE) until a touchdown or liftoff event occurs, triggering an instantaneous reset at a discrete time instant [1]. We’ve shown that models for periodic gaits with footfalls isolated in time (e.g. bipedal walk or run, quadrupedal walk or gal...
متن کاملStability Analysis of Gaits of Quadruped Walking Robot MERO
Gaits study is a fundamental part of legged vehicle research. Legged locomotion has been used by biological systems for hundreds of millions of years In contrast, wheeled locomotion vehicles have only a history of several thousand years. Wheeled vehicles are so familiar and ubiquitours in our modern way of life, and have been developed to such level of sophistication. But, approximately half of...
متن کاملAssessing stability and controllability of multi–legged gaits
Parsimonious dynamical models for legged locomotion are piecewise–defined. The state flows in continuous–time according to an ordinary differential equation (ODE) until a touchdown or liftoff event occurs, triggering an instantaneous reset at a discrete time instant [5]. We’ve shown that models for periodic gaits with footfalls isolated in time (e.g. bipedal walk or run, quadrupedal walk or gal...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Royal Society Open Science
سال: 2016
ISSN: 2054-5703
DOI: 10.1098/rsos.160602