Modeling posture-dependent leg actuation in sagittal plane locomotion

摘要: The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety running animals, and served as inspiration for an entire class dynamic robots. While models leg by energy-conserving spring, insects animals have structures that dissipate, store produce energy during stance phase. Recent investigations into spring-like properties limbs, well animal response drop-step perturbations, suggest use their legs manage storage dissipation, this management is important gait stability. In paper, we extend our previous analysis control via changes in touch-down angle include variations Energy are incorporated through actuation varies force-free length phase, yet maintains qualitatively correct force velocity profiles. contrast partially asymptotically stable gaits identified analyses, incorporating manner produces complete asymptotic Drop-step perturbation simulations reveal strategy rather robust, with recovering from drops up 30% nominal hip height.