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Artikel

Breaking Symmetries and Constraints: Transitions from 2D to 3D in Passive Walkers

Författare: Piiroinen, P T, Dankowicz, H., Nordmark, A.
Dokumenttyp: Artikel
Tillstånd: Accepterad
Tidskrift: Multibody System Dynamics
Volym:   
År: 2002

Abstract

The inherent dynamics of bipedal, passive mechanisms are studied to investigate the relation between motions constrained to two-dimensional planes and those free to move in a three-dimensional environment. In particular, we develop numerical and analytical techniques using dynamical-systems methodology to address the persistence and stability changes of periodic, gait-like motions due to the relaxation of configuration constraints and the breaking of problem symmetries. The results indicate the limitations of a two-dimensional analysis to predict the dynamics in the three-dimensional environment. For example, it is shown how the loss of constraints may introduce characteristically non-2D instability mechanisms, and how small symmetry-breaking terms may result in the termination of solution branches.