Prediction of stable walking for a toy that cannot stand

Details Prediction of stable walking for a toy that cannot stand Prediction of stable walking for a toy that cannot stand

2001-04-09

arxiv.org/abs/physics/0104034v3

Physics

Classical Physics

Note: only corrections so far have been fixing typo's in these comments. 3 pages, 2 eps figures, uses epsf.tex, revtex.sty, am

Scientific paper

10.1103/PhysRevE.64.022901

Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and which has no statically 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 to stability of animal motions.

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