Ph. J. Holmes, J. Proctor, “Steering by Transient Destabilization in Piecewise-Holonomic Models of Legged Locomotion”, Regul. Chaotic Dyn., 13:4 (2008), 267

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Regular and Chaotic Dynamics, 2008, Volume 13, Issue 4, Pages 267–282
DOI: https://doi.org/10.1134/S1560354708040047 (Mi rcd578)

This article is cited in 23 scientific papers (total in 23 papers)

Nonholonomic mechanics

Steering by Transient Destabilization in Piecewise-Holonomic Models of Legged Locomotion

Ph. J. Holmes^ab, J. Proctor^a

^a Department of Mechanical and Aerospace Engineering
^b Program in Applied and Computational Mathematics, Princeton University, Princeton, NJ 08544, U.S.A.

Citations (23)

DOI: https://doi.org/10.1134/S1560354708040047

Abstract: We study turning strategies in low-dimensional models of legged locomotion in the horizontal plane. Since the constraints due to foot placement switch from stride to stride, these models are piecewise-holonomic, and this can cause stride-to-stride changes in angular momentum and in the ratio of rotational to translational kinetic energy. Using phase plane analyses and parameter studies based on experimental observations of insects, we investigate how these changes can be harnessed to produce rapid turns, and compare the results with dynamical cockroach data. Qualitative similarities between the model and insect data suggest general strategies that could be implemented in legged robots.

Keywords: biomechanics, hybrid dynamical system, insect locomotion, passive stability, piecewise holonomy, robotics, turning, transient instability.

Received: 02.06.2008
Accepted: 03.07.2008

Bibliographic databases:

Document Type: Personalia

MSC: 37J15, 37J25, 70E18, 70H03, 37J60, 92B05

Language: English

Citation: Ph. J. Holmes, J. Proctor, “Steering by Transient Destabilization in Piecewise-Holonomic Models of Legged Locomotion”, Regul. Chaotic Dyn., 13:4 (2008), 267–282

Citation in format AMSBIB

\Bibitem{HolPro08}

\by Ph.~J.~Holmes, J.~Proctor

\paper Steering by Transient Destabilization in Piecewise-Holonomic Models of Legged Locomotion

\jour Regul. Chaotic Dyn.

\yr 2008

\vol 13

\issue 4

\pages 267--282

\mathnet{http://mi.mathnet.ru/rcd578}

\crossref{https://doi.org/10.1134/S1560354708040047}

\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=2456923}

\zmath{https://zbmath.org/?q=an:1229.70018}

Linking options:

https://www.mathnet.ru/eng/rcd578

https://www.mathnet.ru/eng/rcd/v13/i4/p267

This publication is cited in the following 23 articles:

Shinya Aoi, Yuki Yabuuchi, Daiki Morozumi, Kota Okamoto, Mau Adachi, Kei Senda, Kazuo Tsuchiya, “Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation”, Soft Robotics, 10:5 (2023), 1028
Shinya Aoi, Ryoe Tomatsu, Yuki Yabuuchi, Daiki Morozumi, Kota Okamoto, Soichiro Fujiki, Kei Senda, Kazuo Tsuchiya, “Advanced Turning Maneuver of a Many-Legged Robot Using Pitchfork Bifurcation”, IEEE Trans. Robot., 38:5 (2022), 3015
Maria Oprea, William Clark, 2022 IEEE 61st Conference on Decision and Control (CDC), 2022, 2621
Zhao D., Revzen Sh., “Multi-Legged Steering and Slipping With Low Dof Hexapod Robots”, Bioinspir. Biomim., 15:4 (2020), 045001
DeAngelis B.D., Zavatone-Veth J.A., Clark D.A., “The Manifold Structure of Limb Coordination in Walking Drosophila”, eLife, 8 (2019), e46409
J. L. Proctor, P. Holmes, “The effects of feedback on stability and maneuverability of a phase-reduced model for cockroach locomotion”, Biol Cybern, 112:4 (2018), 387
Anthony Bloch, William Clark, Leonardo Colombo, 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, 1529
Konstantinos Karydis, Adam Stager, Herbert G. Tanner, Ioannis Poulakakis, Springer Proceedings in Advanced Robotics, 1, 2016 International Symposium on Experimental Robotics, 2017, 420
Konstantinos Karydis, Yan Liu, Ioannis Poulakakis, Herbert G. Tanner, 2015 23rd Mediterranean Conference on Control and Automation (MED), 2015, 1112
Sebastián Ferraro, Fernando Jiménez, David Martín de Diego, “New developments on the geometric nonholonomic integrator”, Nonlinearity, 28:4 (2015), 871
Konstantinos Karydis, Yan Liu, Ioannis Poulakakis, Herbert G. Tanner, “A template candidate for miniature legged robots in quasi-static motion”, Auton Robot, 38:2 (2015), 193
Konstantinos Karydis, Ioannis Poulakakis, Jianxin Sun, Herbert G. Tanner, “Probabilistically valid stochastic extensions of deterministic models for systems with uncertainty”, The International Journal of Robotics Research, 34:10 (2015), 1278
Konstantinos Karydis, David Zarrouk, Ioannis Poulakakis, Ronald S. Fearing, Herbert G. Tanner, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, 3033
Shai Revzen, Samuel A. Burden, Talia Y. Moore, Jean-Michel Mongeau, Robert J. Full, “Instantaneous kinematic phase reflects neuromechanical response to lateral perturbations of running cockroaches”, Biol Cybern, 107:2 (2013), 179
Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, 507
A.O. Pullin, N.J. Kohut, D. Zarrouk, R. S. Fearing, 2012 IEEE International Conference on Robotics and Automation, 2012, 5086
Shai Revzen, John M. Guckenheimer, “Finding the dimension of slow dynamics in a rhythmic system”, J. R. Soc. Interface., 9:70 (2012), 957
ED Tytell, P Holmes, AH Cohen, “Spikes alone do not behavior make: why neuroscience needs biomechanics”, Current Opinion in Neurobiology, 21:5 (2011), 816
Samuel Burden, Shai Revzen, S. Shankar Sastry, IEEE Conference on Decision and Control and European Control Conference, 2011, 6116
Aaron M. Hoover, Samuel Burden, Xiao-Yu Fu, S. Shankar Sastry, R. S. Fearing, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2010, 869

Citing articles in Google Scholar: Russian citations, English citations
Related articles in Google Scholar: Russian articles, English articles

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