Three-dimensional Translational Dynamics and Stability of Multi-legged Runners
International Journal of Robotics Research
Modular neuroevolution for multilegged locomotion
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Task oriented kinematic analysis for a legged robot with half-circular leg morphology
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
DASH: a dynamic 16g hexapedal robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
DASH: a resilient high-speed 15g hexapedal robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fitness Space Structure of a Neuromechanical System
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Switching max-plus models for legged locomotion
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
A mathematical modeling study of inter-segmental coordination during stick insect walking
Journal of Computational Neuroscience
Myriapod-like ambulation of a segmented microrobot
Autonomous Robots
An inter-segmental network model and its use in elucidating gait-switches in the stick insect
Journal of Computational Neuroscience
Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
Multistable phase regulation for robust steady and transitional legged gaits
International Journal of Robotics Research
Optimal design of neuro-mechanical oscillators
Computers and Structures
Modeling and animating myriapoda: a real-time kinematic/dynamic approach
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
International Journal of Robotics Research
Sprawl angle in simplified models of vertical climbing: Implications for robots and roaches
Applied Bionics and Biomechanics
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Cheetahs and beetles run, dolphins and salmon swim, and bees and birds fly with grace and economy surpassing our technology. Evolution has shaped the breathtaking abilities of animals, leaving us the challenge of reconstructing their targets of control and mechanisms of dexterity. In this review we explore a corner of this fascinating world. We describe mathematical models for legged animal locomotion, focusing on rapidly running insects and highlighting past achievements and challenges that remain. Newtonian body--limb dynamics are most naturally formulated as piecewise-holonomic rigid body mechanical systems, whose constraints change as legs touch down or lift off. Central pattern generators and proprioceptive sensing require models of spiking neurons and simplified phase oscillator descriptions of ensembles of them. A full neuromechanical model of a running animal requires integration of these elements, along with proprioceptive feedback and models of goal-oriented sensing, planning, and learning. We outline relevant background material from biomechanics and neurobiology, explain key properties of the hybrid dynamical systems that underlie legged locomotion models, and provide numerous examples of such models, from the simplest, completely soluble "peg-leg walker" to complex neuromuscular subsystems that are yet to be assembled into models of behaving animals. This final integration in a tractable and illuminating model is an outstanding challenge.