Breaking symmetries and constraints: Transitions from 2D to 3D in passive walkers
2003 (English)In: Multibody system dynamics, ISSN 1384-5640, E-ISSN 1573-272X, Vol. 10, no 2, 147-176 p.Article in journal (Refereed) Published
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.
Place, publisher, year, edition, pages
2003. Vol. 10, no 2, 147-176 p.
passive bipedal mechanisms, periodic motion, symmetries, center manifold, bifurcations, nonlinear dynamics, multibody modeling, dynamical systems, dynamic walking
IdentifiersURN: urn:nbn:se:kth:diva-22785ISI: 000185125300001OAI: oai:DiVA.org:kth-22785DiVA: diva2:341483
QC 201005252010-08-102010-08-10Bibliographically approved