The Effect of Gait Stability Based on Two Types of Impact Strategies for Two-Link Walking and Brachiating Robots

Abstract:In this paper, we explore the impulsive dynamics common to single-joint, two-link models of walking and brachiating gaits with respect to slope and switching time. In particular, we investigate how the stability of a gait and bifurcations encountered within a family of gaits change under time-based and state-based switching of the impulsive dynamics.

Chaotic Dynamics (nlin.CD); Robotics (cs.RO)

arXiv:2610.01004 [nlin.CD]

(or arXiv:2610.01004v1 [nlin.CD] for this version)

https://doi.org/10.48550/arXiv.2610.01004 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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