Open AccessRimless wheel
Author(s) -
Г К Боровин,
В. В. Лапшин
Publication year - 2022
Publication title -
preprint/preprinty ipm im. m.v. keldyša
Language(s) - English
Resource type - Journals
eISSN - 2071-2901
pISSN - 2071-2898
DOI - 10.20948/prepr-2022-20
Subject(s) - control theory (sociology) , movement (music) , plane (geometry) , nonlinear system , inclined plane , physics , bipedalism , horizontal plane , process (computing) , dynamics (music) , classical mechanics , computer science , mathematics , geometry , anatomy , biology , acoustics , artificial intelligence , control (management) , quantum mechanics , operating system
The paper hypothesizes that bipedal walking is a process of self-oscillations in terms of variables. The simplest model of bipedal walking – the movement of a rimless wheel (a wheel with legs) is considered. In a nonlinear formulation, the dynamics of its plane motion down an inclined plane is analyzed analytically. It is shown that various modes of movement of a rimless wheel are possible. The most interesting of which is the existence of a stable periodic solution (self-oscillations).