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Journal of computational and nonlinear dynamics.
Publisher:
American Society of Mechanical Engineers,
Frequency: Quarterly
Country: United States
Language: English
Author(s):
American Society of Mechanical Engineers.
Start Year:2006 -
Identifiers
| ISSN: | 1555-1415 (Print) 1555-1423 (Electronic) 1555-1415 (Linking) |
| NLM ID: | 101629392 |
| (OCoLC): | 58471622 |
| LCCN: | 2005212198 |
Passive Dynamics Explain Quadrupedal Walking, Trotting, and Tölting. This paper presents a simplistic passive dynamic model that is able to create realistic quadrupedal walking, tölting, and trotting motions. The model is inspired by the bipedal spring loaded inverted pendulum (SLIP) model and consists of a distributed mass on four massless legs. Each of the legs is either in ground contact, retracted for swing, or is ready for touch down with a predefined angle of attack. Different gaits, that is, periodic motions differing in interlimb coordination patterns, are generated by choosing different initial model states. Contact patterns and ground reaction forces...
