Abstract
We analyze a simple three degree of freedom model for running in the horizontal plane: the lateral leg spring (LLS) model with an actuated hip. The leg attachment point within the body is actuated to produce a force in the elastic leg that matches experimental force profiles. While the resulting bipedal model accurately reproduces force profiles by construction, we find that a single leg cannot reproduce the moment profiles and yawing variations seen in an insect equipped with a tripod of legs. We find stability is strongly dependent upon foot placement and that the leg attachment point motion within the body differs from that seen in the insect.
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© 2006 Springer-Verlag Berlin Heidelberg
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Schmitt, J. (2006). An Actuated Horizontal Plane Model for Insect Locomotion. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_106
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DOI: https://doi.org/10.1007/3-540-26415-9_106
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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