Intro
Biomimesis
Design
Analysis
Conclusions
•Time-Based Mode Transitions
–Clock-driven motor pattern
–“Groucho running”1
–
•One “reset” mode
–Two sets of legs - Two modes
–Symmetric - treat as one mode
•
•Mode initial conditions
–Nominal leg angles
–Instant passive component compression
–
–
•
Modeling assumptions
1 McMahon, et al 1987
Leg Set
2
Leg Set
1
Leg Set
2
Leg Set
 1
State
Time
x
0
= state trajectory
Stride Period
t = 3T + 1/3T
T
T
T
T
g