Quantifying Dynamic Stability and Maneuverability in Legged Locomotion
نویسندگان
چکیده
منابع مشابه
Quantifying dynamic stability and maneuverability in legged locomotion.
Animals can swerve, dodge, dive, climb, turn and stop abruptly. Their stability and maneuverability are remarkable, but a challenge to quantify. Formal stability analysis can allow for quantitative comparisons within and among species. Stability analysis used in concert with a template (a simple, general model that serves as a guide for control) can lead to testable hypotheses of function. Neur...
متن کاملQuantifying Dynamic Stability and Maneuverability in Legged Locomotion1
SYNOPSIS. Animals can swerve, dodge, dive, climb, turn and stop abruptly. Their stability and maneuverability are remarkable, but a challenge to quantify. Formal stability analysis can allow for quantitative comparisons within and among species. Stability analysis used in concert with a template (a simple, general model that serves as a guide for control) can lead to testable hypotheses of func...
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We describe a hierarchy of models for legged locomotion, emphasizing relationships among feedforward (preflexive) stability, maneuverability, and reflexive feedback. We focus on a hexapedal geometry representative of insect locomotion in the ground plane that includes a neural central pattern generator circuit, nonlinear muscles, and a representative proprioceptive sensory pathway. Although the...
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ژورنال
عنوان ژورنال: Integrative and Comparative Biology
سال: 2002
ISSN: 1540-7063,1557-7023
DOI: 10.1093/icb/42.1.149