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

N. Rosa, K. M. Lynch

Research output: Chapter in Book/Report/Conference proceedingChapter

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
PublisherWorld Scientific Publishing Co.
Pages633-640
Number of pages8
ISBN (Electronic)9789814525534
ISBN (Print)9789814525527
DOIs
StatePublished - Jan 1 2013

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)

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