发表机构
Illinois Institute of Technology（伊利诺伊理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文研究双连杆行走与臂行机器人中，基于时间和状态的冲击切换策略对步态稳定性及分岔行为的影响。
AI 中文摘要
本文探讨了单关节双连杆行走与臂行步态模型中常见的冲击动力学，并研究了其相对于坡度和切换时间的变化。具体而言，我们考察了在基于时间和基于状态的冲击动力学切换下，步态稳定性及步态族内遇到的分岔如何变化。
英文摘要
In this paper, we explore the impulsive dynamics common to single-joint, two-link models of walking and brachiating gaits with respect to slope and switching time. In particular, we investigate how the stability of a gait and bifurcations encountered within a family of gaits change under time-based and state-based switching of the impulsive dynamics.
Comments10 pages, 6 figures, submitted for review; code available at https://github.com/aestr6/TWOLINK_NODYCON
