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Bifurcation and chaos in the simple passive dynamic walking model with upper body
We present some rich new complex gaits in the simple walking model with upper body by Wisse et al. We first show that the stable gait found by Wisse et al. may become chaotic via period-doubling bifurcations.
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The roller coaster flight strategy of bar-headed geese conserves energy during Himalayan migrations
A paper that explores the flight patterns of migrating geese over the Himalayan Mountains. Beyond presenting a measured result that disputes prior hypothesis, it also illustrates that geese are demonstrating a behavior that is very 'non-engineer-like' - humans would never build a passanger aircraft that varies altitude so dramatically
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Stabilization of Nonlinear Systems Nonlinearly Depending on Fast Time-Varying Parameters- An Immersion and Invariance Approach
A paper that might be interesting to compare to the lab's own investigation in how to detail with parameter uncertainty in hybrid systems. Mitigating the influence of unknown parameter changes in a system is a major concern in locomotion, and being able to extend this papers result to a hybrid system could provide a new tool
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Preparing the leg for ground contact in running - the contribution of feed-forward and visual feedback
A paper, among many, that explores the usage of feedforward control in perserving periodic gaits in SLIP-like models. As the lab has contributed to this discussion in a very general way, it is useful to examine other groups' special-case result to see if our result encompasses it, or it is an novel technique. Interestingly, this paper consists of experiemental measurements of acutal muscle activity in moving humans - suggesting that feedforward muscle activity is sufficient to explain previously observed feed-forward leg adjustments.
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Comparative whole-body kinematics of closely related insect species with different body morphology
A compartive study between morphology of insects and the influence on gait. The results could be interesting - from a template/anchor perspective, it would be seeing if a similiar 'motion primitive' is being employed despite variation in exact morphology. If so, it might provide insight - if not, it might be suggestive that the template/anchor model is wrong.