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The Effect of Gait Stability Based on Two Types of Impact Strategies for Two-Link Walking and Brachiating Robots

2026-10-01 03:49:12
Alan Estrada Flores, Nelson Rosa Jr
arXiv_RO
   
Abstract

In this paper, we explore the impulsive dynamics common to single-joint, two-link models of walking and brachiating gaits with respect to slope and switching time. In particular, we investigate how the stability of a gait and bifurcations encountered within a family of gaits change under time-based and state-based switching of the impulsive dynamics.

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URL

https://arxiv.org/abs/2610.01004

PDF

https://arxiv.org/pdf/2610.01004.pdf

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