Leg recirculation in horizontal plane locomotion |
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Authors: | A Wickramasuriya J Schmitt |
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Institution: | 1.School of Mechanical, Industrial and Manufacturing Engineering,Oregon State University,Corvallis,USA |
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Abstract: | A protocol prescribing leg motion during the swing phase is developed for the planar lateral leg spring model of locomotion.
Inspired by experimental observations regarding insect leg function when running over rough terrain, the protocol prescribes
the angular velocity of the swing-leg relative to the body in a feedforward manner, yielding natural variations in the leg
touch-down angle in response to perturbations away from a periodic orbit. Analysis of the reduced order model reveals that
periodic gait stability and robustness to external perturbations depends strongly upon the angular velocity of the leg at
touch-down. While the leg angular velocity at touch-down provides control over gait stability and can be chosen to stabilize
unstable gaits, the resulting basin of stability is much smaller than that observed for the original lateral leg spring model
with a fixed leg touch-down angle. Comparisons to experimental leg angular velocity data for running cockroaches reveal that
while the proposed protocol is qualitatively correct, smaller leg angular accelerations occur during the second half of the
swing phase. Modifications made to the recirculation protocol to better match experimental observations yield large improvements
in the basin of stability. |
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Keywords: | |
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