Rimless wheel | Zendy

Г К Боровин | Zendy; В В Лапшин | Zendy

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Rimless wheel

Author(s) -

Г К Боровин,

В В Лапшин

Publication year - 2022

Publication title -

keldysh institute preprints

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).

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