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Breaking symmetries...
Breaking symmetries and constraints : Transitions from 2D to 3D in passive walkers
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Piiroinen, P. T. (author)
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Dankowicz, H. J. (author)
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- Nordmark, Arne B. (author)
- KTH,Mekanik
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(creator_code:org_t)
- 2003
- 2003
- English.
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In: Multibody system dynamics. - 1384-5640 .- 1573-272X. ; 10:2, s. 147-176
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- 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.
Keyword
- passive bipedal mechanisms
- periodic motion
- symmetries
- center manifold
- bifurcations
- nonlinear dynamics
- multibody modeling
- dynamical systems
- dynamic walking
Publication and Content Type
- ref (subject category)
- art (subject category)
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