Rotary and radial forcing effects on center-of-mass locomotion dynamics.

摘要: Rotary and radial forcing are two common actuation methods for legged robots. However, these orthogonal of center-of-mass (CoM) have not been compared as potentially alternative strategies actuation. In this paper, we compare the CoM stability energetics running with rotary through simulation models: rotary-forced spring-loaded inverted pendulum (rotary-forced-SLIP), radially-forced-SLIP. We model both in simplest way, applying them a constant force during stance portion gait. A simple application throughout is capable producing fully-asymptotically stable motion; however, similarly solutions. then allow applied functions to turn on or off based occurrence mid-stance event, which breaks symmetry towards net forward propulsion. find that first half second stance, stabilizing running. Interestingly, improve motion different ways. reduces greatly increases size parameter region when gradually increased. Radial expands region, but only moderate way. Also, it found stabilized by largely complementary. Overall, can better stabilize event-based were attempted. This indicates has an inherent capability running, even minimal time-or-event-or-state feedback present. forcing, tends be more energy efficient forcing. addition, balanced efficiency achieved combining methods. These results may future study how animals move.