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Stable handspring maneuvers with passive flight phases: Results from an inverted pendulum-like template
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Stable handspring maneuvers with passive flight phases: Results from an inverted pendulum-like template

Ali Tehrani Safa, Ali Nouriani and Aria Alasty
International journal of non-linear mechanics, v 128, 103606
Jan 2021
DOI: https://doi.org/10.1016/j.ijnonlinmec.2020.103606
Featured in Collection :   UN Sustainable Development Goals @ Drexel

Abstract

Handspring maneuver Legged locomotion Open-loop control Passive dynamics
Inverted pendulum (IP) has been broadly used to model locomotor systems. In this paper, we demonstrate that an IP-like model could simulate stable periodic handspring maneuvers with passive flight phases. The model is a 2-D symmetric rigid body which is merely controlled during the contact phase. To benefit from an open-loop sensorless strategy, the control policy is implemented only by an unvaried torque input. The system’s dynamics is an example of nonlinear impulsive systems studied and analyzed by the Poincaré section method. The numerical results reveal that the stable periodic solutions are sufficiently robust for a broad range of the parameter space. •A 2D symmetric rigid body can present stable handspring maneuvers.•The body is actuated only during the contact phase.•The control policy is open-loop and implemented by an unvaried torque input.

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Collaboration types
Domestic collaboration
Web of Science research areas
Mechanics
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