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KIAM Preprint  20, Moscow, 2022
Authors: Borovin G.K., Lapshin V.V.
Rimless wheel
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).
nonlinear dynamics, bipedal walking, rimless wheel
Publication language: russian,  pages: 17
Research direction:
Mathematical modelling in actual problems of science and technics
Russian source text:
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About authors:
  • Borovin Gennady Konstantinovich, RAS
  • Lapshin Vladimir Vladimirovich, Moscow State Technical University, professor Bauman Moscow State Technical University