Stable Running with Asymmetric Legs: A Bifurcation Approach

被引：4

作者：

Merker, Andreas ^{[1
]}

Kaiser, Dieter ^{[1
]}

Seyfarth, Andre ^{[2
]}

Hermann, Martin ^{[1
]}

机构：

[1] Univ Jena, Inst Angew Math, D-07743 Jena, Germany

[2] Tech Univ Darmstadt, Inst Sports Sci, Lauflabor Locomot Lab, D-64289 Darmstadt, Germany

来源：

INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS | 2015年 / 25卷 / 11期

关键词：

Spring-mass model; leg asymmetry; bifurcations; running; boundary-value problem; SOFTWARE PACKAGE; DYNAMICS; WALKING; GAIT; MASS; TRANSITION; POINTS; SYSTEM; MODEL;

D O I：

10.1142/S0218127415501527

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

The spring-mass model is a frequently used gait template to describe human and animal locomotion. In this study, we transform the spring-mass model for running into a boundary value problem and use it for the computation of bifurcation points. We show that the analysis of the region of stable solutions can be reduced to the calculation of its boundaries. Using the new bifurcation approach, we investigate the influence of asymmetric leg parameters on the stability of running. Like previously found in walking, leg asymmetry does not necessarily restrict the range of stable running and may even provide benefits for system dynamics.

引用

页数：13

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