Stable handspring maneuvers with passive flight phases: Results from an inverted pendulum-like template. (January 2021)

• Record Type: Journal Article
• Authors: Safa, Ali Tehrani; Nouriani, Ali; Alasty, Aria
• Is Part Of: International journal of non-linear mechanics. Volume 128(2021)
• Publication Date: 2021-01
• Subjects: Legged locomotion -- Handspring maneuver -- Open-loop control -- Passive dynamics; Nonlinear mechanics -- Periodicals; Mécanique non linéaire -- Périodiques; Nonlinear mechanics; Periodicals; 531
• DOI: 10.1016/j.ijnonlinmec.2020.103606
• Languages: English
• ISSNs: 0020-7462

Abstract

Abstract: 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. Highlights: 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.