|
Rimless wheel
G. K. Borovin, V. V. Lapshin
Abstract:
The paper hypothesizes that bipedal walking is a process of self-oscillations in terms of variables. The simplest model of bipedal walking – the movement of a rimless wheel (a wheel with legs) is considered. In a nonlinear formulation, the dynamics of its plane motion down an inclined plane is analyzed analytically. It is shown that various modes of movement of a rimless wheel are possible. The most interesting of which is the existence of a stable periodic solution (self-oscillations).
Keywords:
nonlinear dynamics, bipedal walking, rimless wheel.
Citation:
G. K. Borovin, V. V. Lapshin, “Rimless wheel”, Keldysh Institute preprints, 2022, 020, 17 pp.
Linking options:
https://www.mathnet.ru/eng/ipmp3046 https://www.mathnet.ru/eng/ipmp/y2022/p20
|
Statistics & downloads: |
Abstract page: | 75 | Full-text PDF : | 33 | References: | 12 |
|