|
|
|
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 |
AbstractThe 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.
|
|
Utbildning