Even though biological legs operate amazingly springlike, they clearly deviate from a perfect spring. For instance, experimental data of human hopping and running suggest an increase in leg length and a decrease in leg stiffness between touchdown and takeoff. Here, this variability of human gait is considered as a fundamental system property and introduced via non-constant leg parameters to a 1...

This paper examines how simple control laws stabilize complex running behaviors such as bounding. First, we reveal and discuss the unexpectedly different local and global forward speed versus touchdown angle relationships in the self stabilized SLIP model. Then we show that, surprisingly, even for a much more complex, energy conserving quadruped model, many cyclic bounding motions exist, which ...

The elds of control and robotics are working toward the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid in nature. They contain both continuous and discrete elements, with switching events that are governed by a combination of unilateral constraints and impulse-like forces that occur at foot tou...

Heavy aircraft main landing gear tyres skid immediately after touchdown as result of the high slip ratio between the tyres and runway, which lead to tyre wear and smoke. In this paper, the tyre wear is modelled on the Archard theory using ANSYS mechanical transient, to reveal the wheel’s dynamic and the tyre tread wear. The wheel’s dynamic and the amount of wear are calculated for initially sta...