The passive dynamics of walking and brachiating robots: Results on the topology and stability of passive gaits

N. Rosa*, K. M. Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Simple walking models, like the compass-gait model, have yielded useful insight into the basic mechanics of walking. A similar model serves as a template for brachiation. With the ability of a two-link robot to walk and swing, we explore the multi-locomotion capability of a generalized two-link model with potential footholds at any location. We focus on the connected components of passive gaits in a five-dimensional state-time space. Our main results are: (1) a walking gait and a brachiating gait cannot be in the same connected component and (2) the stability of a gait depends on whether impacts are state-based (e.g., footfall in a biped walker) or time-based (e.g., time between clamping brachiator hands to a wall). For the same connected component of gaits, the different impact types result in different bifurcations.

Original languageEnglish (US)
Title of host publicationNature-Inspired Mobile Robotics
Subtitle of host publicationProceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
Pages633-640
Number of pages8
StatePublished - Dec 1 2013
Event16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 - Sydney, NSW, Australia
Duration: Jul 14 2013Jul 17 2013

Publication series

NameNature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013

Other

Other16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
Country/TerritoryAustralia
CitySydney, NSW
Period7/14/137/17/13

Keywords

  • Brachiation
  • Compass-gait
  • Simplest walking model
  • Walking

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Fingerprint

Dive into the research topics of 'The passive dynamics of walking and brachiating robots: Results on the topology and stability of passive gaits'. Together they form a unique fingerprint.

Cite this