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- Piiroinen, P. T., et al.
(författare)
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Breaking symmetries and constraints : Transitions from 2D to 3D in passive walkers
- 2003
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Ingår i: Multibody system dynamics. - 1384-5640 .- 1573-272X. ; 10:2, s. 147-176
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Tidskriftsartikel (refereegranskat)abstract
- The inherent dynamics of bipedal, passive mechanisms are studied to investigate the relation between motions constrained to two-dimensional (2D) planes and those free to move in a three-dimensional (3D) 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 2D analysis to predict the dynamics in the 3D 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.
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