Symmetrical passive running of a simple spring model is commonly used to predict the locomotion
of real animals and develop the design strategies for legged systems. If the initial conditions for running can be
found automatically, we can expand the ranges of the model parameters freely. To achieve this objective, we
derive an efficient searching procedure based on analysis of the symmetries. Using this process, the desired initial
states of the passive running are obtained. Existence of the results reveals that the leg symmetries can be used
to generate the symmetrical running. Moreover, the leg forces are associated with the running pattern, implying
that we should choose suitable motion for the given model characteristics.
DENG Qi (邓 奇), WANG Shi-gang* (王石刚), MO Jin-qiu (莫锦秋), LIANG Qing-hua (梁庆华)
. Symmetry Based Searching Process for Initial Conditions of Passive Running[J]. Journal of Shanghai Jiaotong University(Science), 2013
, 18(6)
: 673
-678
.
DOI: 10.1007/s12204-011-1203-7
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