Collisionless Rigid Body Locomotion Models and Physically Based Homotopy Methods for Finding Periodic Motions in High Degree of Freedom Models

@inproceedings{Gomes2005CollisionlessRB,
  title={Collisionless Rigid Body Locomotion Models and Physically Based Homotopy Methods for Finding Periodic Motions in High Degree of Freedom Models},
  author={Mario W. Gomes},
  year={2005}
}
This thesis presents collisionless gaits for three different locomotion models, ape brachiation, biped walking, and rimless wheel rolling. All of the models exist in environments which allow energy dissipative collisions (which are the only way for these models to lose energy). However, these collisions can be avoided if the incoming foot or hand touches the support just as its velocity drops to zero. These special collisionless gaits are numerically shown to exist for several brachiation and… CONTINUE READING
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