Intro
Biomimesis
Design
Analysis
Conclusions
Non-linear analysis tools
•Discrete non-linear system
•
•
•
•
•Fixed points
–numerically integrate to find
–exclude horizontal position information
= state trajectory
= fixed points
xk+1 = xk = x*
Leg Set
2
Leg Set
1
Leg Set
2
Leg Set
 1
State
Time
x
0
= state trajectory
Stride Period
T
T
T
T