Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Breaking symmetries and constraints: Transitions from 2D to 3D in passive walkers
KTH, Tidigare Institutioner                               , Mekanik.
2003 (engelsk)Inngår i: Multibody system dynamics, ISSN 1384-5640, E-ISSN 1573-272X, Vol. 10, nr 2, 147-176 s.Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

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.

sted, utgiver, år, opplag, sider
2003. Vol. 10, nr 2, 147-176 s.
Emneord [en]
passive bipedal mechanisms, periodic motion, symmetries, center manifold, bifurcations, nonlinear dynamics, multibody modeling, dynamical systems, dynamic walking
Identifikatorer
URN: urn:nbn:se:kth:diva-22785ISI: 000185125300001OAI: oai:DiVA.org:kth-22785DiVA: diva2:341483
Merknad
QC 20100525Tilgjengelig fra: 2010-08-10 Laget: 2010-08-10 Sist oppdatert: 2017-12-12bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler

Søk i DiVA

Av forfatter/redaktør
Nordmark, Arne B.
Av organisasjonen
I samme tidsskrift
Multibody system dynamics

Søk utenfor DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric

urn-nbn
Totalt: 29 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf