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Titolo:
Prediction of stable walking for a toy that cannot stand - art. no. 022901
Autore:
Coleman, MJ; Garcia, M; Mombaur, K; Ruina, A;
Indirizzi:
Cornell Univ, Dept Theoret & Appl Mech, Ithaca, NY 14853 USA Cornell UnivIthaca NY USA 14853 heoret & Appl Mech, Ithaca, NY 14853 USA Univ Heidelberg, IWR, D-69120 Heidelberg, Germany Univ Heidelberg Heidelberg Germany D-69120 , D-69120 Heidelberg, Germany
Titolo Testata:
PHYSICAL REVIEW E
fascicolo: 2, volume: 6402, anno: 2001,
parte:, 1
pagine: 2901 -
SICI:
1063-651X(200108)6402:2<2901:POSWFA>2.0.ZU;2-Z
Fonte:
ISI
Lingua:
ENG
Soggetto:
PASSIVE DYNAMIC WALKING;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Physical, Chemical & Earth Sciences
--discip_EC--
Citazioni:
12
Recensione:
Indirizzi per estratti:
Indirizzo: Coleman, MJ Cornell Univ, Dept Theoret & Appl Mech, Ithaca, NY 14853 USA Cornell Univ Ithaca NY USA 14853 l Mech, Ithaca, NY 14853 USA
Citazione:
M.J. Coleman et al., "Prediction of stable walking for a toy that cannot stand - art. no. 022901", PHYS REV E, 6402(2), 2001, pp. 2901

Abstract

Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and that has nostatically stable near-standing configurations can walk stably. We show here that a simple rigid-body statically unstable mathematical model based loosely on the physical toy can predict stable limit-cycle walking motions. These calculations add to the repertoire of rigid-body mechanism behaviors as well as further implicating passive dynamics as a possible contributor tostability of animal motions.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 02/04/20 alle ore 12:41:57