The Dynamics of Legged Locomotion: Models, Analyses, and Challenges

摘要: Cheetahs and beetles run, dolphins salmon swim, bees birds fly with grace economy surpassing our technology. Evolution has shaped the breathtaking abilities of animals, leaving us challenge reconstructing their targets control mechanisms dexterity. In this review we explore a corner fascinating world. We describe mathematical models for legged animal locomotion, focusing on rapidly running insects highlighting past achievements challenges that remain. Newtonian body--limb dynamics are most naturally formulated as piecewise-holonomic rigid body mechanical systems, whose constraints change legs touch down or lift off. Central pattern generators proprioceptive sensing require spiking neurons simplified phase oscillator descriptions ensembles them. A full neuromechanical model requires integration these elements, along feedback goal-oriented sensing, planning, learning. outline relevant background material from biomechanics neurobiology, explain key properties hybrid dynamical systems underlie locomotion models, provide numerous examples such simplest, completely soluble "peg-leg walker" to complex neuromuscular subsystems yet be assembled into behaving animals. This final in tractable illuminating is an outstanding challenge.