A simple model for clock-actuated legged locomotion

Regular and Chaotic Dynamics

Volumn 12, Issue 5, 2007, Pages 502-520

  Seipel, J ^a   Holmes, P ^b  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Princeton University   (United States)

Author keywords

Animal locomotion; Biomechanics; Robotics; Stability

Indexed keywords

EID: 54349091946     PISSN: 15603547     EISSN: 14684845     Source Type: Journal    
DOI: 10.1134/S1560354707050048     Document Type: Article

References (42)

1. Blickhan, R., The Spring-Mass Model for Running and Hopping, J. Biomechanics, 1989, vol. 22, pp. 1217-
2. Blickhan, R. and Full, R.J., Similarity in Multi-Legged Locomotion: Bouncing Like a Monopode, J. Comp. Physiol. A, 1993, vol. 173, pp. 509-517.
3. Altendorfer, R., Saranli, U., Komsuoglu, H., Koditschek, D.E., Brown, B., Buehler, M., Moore, E., Mc-Mordie, D., and Full, R.J., Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot, inExperimental Robotics VII, Springer Verlag, 2002, pp. 291-302.
4. Altendorfer, R., Moore, N., Komsuoglu, H., Buehler, M., Brown Jr., H.B., McMordie, D., Saranli, U., Full, R.J., and Koditschek, D.E., Biologically Inspired Hexapod Runner, Autonomous Robots, 2001, vol. 11, pp. 207-213.
5. Saranli, U., Buehler, M., and Koditschek, D.E., A Simple andHighlyMobileHexapod Robot, Int. J. Robotics Res., 2001, vol. 20, pp. 616-631.
6. Full, R.J. and Koditschek, D.E., Templates and Anchors: Neuromechanical Hypotheses of Legged Locomotion on Land, J. Exp. Biol., 1999, vol. 202, pp. 3325-3332.
7. Schmitt, J. and Holmes, P., Mechanical Models for Insect Locomotion: Dynamics and Stability in the Horizontal Plane-Theory, Biol. Cybern., 2000, vol. 83, pp. 501-515.
8. Seipel, J., Holmes, P., and Full, R.J., Dynamics and Stability of Insect Locomotion: A Hexapedal Model for Horizontal PlaneMotions, Biol. Cybern., 2004, vol. 91, pp. 76-90.
9. Ghigliazza, R.M. and Holmes, P., Towards a Neuromechanical Model for Insect Locomotion: Hybrid Dynamical Systems, Regul. Chaotic Dyn., 2005, vol. 10, pp. 193-225.
10. Holmes, P., Full, R.J., Koditschek, D., and Guckenheimer, J., The Dynamics of Legged Locomotion: Models, Analyses and Challenges, SIAM Review, 2006, vol. 48, pp. 207-304.
11. Dickinson, M.H., Farley, C.T., Full, R.J., Koehl, M.A.R., Kram, R., and Lehman, S., How AnimalsMove: an Integrative View, Science, 2000, vol. 288, pp. 100-106.
12. Chong, L., Culotta, E., and Sugden, A., On the Move: Movement: Molecular to Robotic, 2000, Science, vol. 288, pp. 79-106.
13. McMahon, T.A. and Cheng, G.C., The mechanics of running: how does stiffness couple with speed?J. Biomechanics, vol. 23, pp. 65-78.
14. Farley, C.T., Glashenn, J., and McMahon, T.A., Running Springs: Speed and Animal Size, J. Exp. Biol., 1993, vol. 185, pp. 71-86.
15. Srinivasan, M. and Holmes, P., How Well Can Spring-Mass-Like Telescoping Leg Models Fit Multi-Pedal Locomotion Data?Preprint of Department of Mechanical and Aerospace Engineering, Princeton University (in review), 2007.
16. Schwind, W.J., Spring Loaded Inverted Pendulum Running: A Plant Model, University of Michigan at Ann Arbor, 1998.
17. Schwind, W.J. and Koditschek, D.E., Approximating the Stance Map of a 2 DOF Monoped Runner, J. Nonlin. Sci., 2000, vol. 10, no. 5, pp. 533-568.
18. Seyfarth, A., Geyer, H., Günther, M., and Blickhan, R., A Movement Criterion for Running, J. Biomech., 2002, vol. 35, pp. 649-655.
19. Ghigliazza, R.M., Altendorfer, R., Holmes, P., and Koditschek, D., A Simply Stabilized Running Model, 2003, SIAM J. Applied Dynamical Systems, 2003, vol. 2, pp. 187-218, updated version reprinted inSIAM Review, 2005, vol. 47, pp. 519-549.
20. Back, A., Guckenheimer, J., andMyers, M., A Dynamical Simulation Facility for Hybrid Systems, inLecture Notes in Computer Science, vol. 736, Berlin: Springer-Verlag, 1993, pp. 255-267.
21. Guckenheimer, J., Johnson, S., Planar hybrid systems, Hybrid systems, II, Ithaca, 1994, Lecture Notes in Comput. Sci., 999, Berlin: Springer, 1995, pp. 202-225.
22. Geyer, H., Seyfarth, A., and Blickhan, R., Spring Mass Running: Simple Approximate Solution and Application to Gait Stability, J. Theor. Biol., 2005, vol. 232, pp. 315-328.
23. Guckenheimer, J. and Holmes, P., Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields, New York: Springer-Verlag, 1990.
24. McGeer, T., Passive DynamicWalking, Int. J. Robotics Research, 1990, vol. 9, pp. 62-82.
25. Schmitt, J. and Holmes, P., Mechanical Models for Insect Locomotion: Stability and Parameter Studies, Physica D, 2001, vol. 156, pp. 139-168.
26. Coleman, M.J., Garcia, M., Mombaur, K., and Ruina, A., Prediction of StableWalking for a Toy that Cannot Stand, Phys. Rev. E., 2001, vol. 64, pp. 022901-1-3.
27. Poulakakis, I., Papadopoulos, E., and Buehler, M., On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait, Int. J. Robotics Res., 2006, vol. 25, pp. 669-687.
28. Seyfarth, A., Geyer, H., and Herr, H., Swing-Leg Retraction: a Simple Control Model for Stable Running, J. Exp. Biol., 2003, vol. 206, pp. 2547-2555.
29. Altendorfer, R., Koditschek, D.E., and Holmes, P., Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps, Int. J. Robotics Res., 2004, vol. 23, pp. 979-999.
30. Altendorfer, R., Koditschek, D.E., and Holmes, P., Stability Analysis of a Clock-Driven Rigid-Body SLIP model for RHex, Int. J. Robotics Res., 2004, vol. 23, pp. 1001-1012.
31. Poulakakis, I., Smith, J.A., and Buehler, M., Experimentally Validated Bounding Models for the Scout II Quadrupedal Robot, inInternational Conference on Robotics and Automation, IEEE Press, 2004, vol. 3, pp. 2595-2600.
32. Poulakakis, I., Smith, J.A., and Buehler, M., Modeling and Experiments ofUntetheredQuadrupedal Running with a Bounding Gait: The Scout II Robot, Int. J. Robotics Res., 2005, vol. 24, pp. 239-256.
33. Cohen, A.H., Rossignol, S., and Grillner, S., Eds., Neural Control of Rhythmic Movements in Vertebrates, New York:Wiley, 1988.
34. McMordie, D., Prahacs, C., and Buehler, M., Towards a Dynamic Actuator Model for a Hexapod Robot, inProceedings of the IEEE International Conference On Robotics and Automation, Taipei: IEEE, 2003, vol. 1, pp. 1386-1390.
35. Armstrong-ong-Hélouvry, B., Control of Machines with Friction, Boston: Springer, 1991.
36. Saranli, U. and Koditschek, D.E., Template Based Control of Hexapedal Running, inProceedings of the IEEE International Conference On Robotics and Automation, Taipei: IEEE, 2003, vol. 1, pp. 1374-1379.
37. Seipel, J. and Holmes, P., Running in Three Dimensions: Analysis of a Point-Mass Sprung-LegModel, Int. J. Robotics Res., 2005, vol. 24, no. 8, pp. 657-674.
38. Seipel, J. and Holmes, P., Three Dimensional Translational Dynamics and Stability of Multi-Legged Runners, Int. J. Robotics Res., 2006, vol. 25, no. 9.
39. Seipel, J., Actuated Models of Multi-Legged Locomotion, Princeton University, 2006.
40. Spagna, J.C., Goldman, D.I., Lin, P., Koditscheck, D.E., and Full, R.J., Distributed Mechanical Feedback in Arthropods and Robots Simplifies Control of Rapid Running on Challenging Terrain, to appear, 2006.
41. Autumn, K., Chang, W.P., Fearing, R., Hsieh, T., Kenny, T., Liang, L., Zesch, W., and Full, R.J., Adhesive Force of a Single Gecko Foot-Hair, Nature, 2000, vol. 405, pp. 681-685.
42. Devaney, R.L., An Introduction to Chaotic Dynamical Systems, Reading: AddisonWesley, 1986.