Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Limit cycle walkers are bipeds that exhibit a stable cyclic gait without requiring local controllability at all times during gait. A ll-known example of limit cycle walking is McGeer's ldquopassive dynamic walking,rdquo but the concept expands to actuated bipeds as involved in this study. One of the stabilizing effects in limit cycle walkers is the dissipation of energy that occurs when the swing foot hits the ground.  hypothesize that this effect can be enhanced with a negative relation beten the step length and step time. This relation is implemented through an open-loop strategy called swing-leg retraction; a predefined time trajectory for the swing leg makes the swing leg move backwards just prior to foot impact. ,  study the effect of swing-leg retraction through three bipeds; a simple point mass simulation model, a realistic simulation model, and a physical prototype. Their stability is analyzed using Floquet multipliers, follod by an evaluation of how ll disturbances are handled using the Gait Sensitivity Norm.  find that mild swing-leg retraction is optimal for the disturbance rejection of a limit cycle walker, as it results in a system response that is close to critically damped, rejecting the disturbance in the fest steps. Slor retraction results in an overdamped response, characterized by a positive dominant Floquet multiplier. Likewise, faster retraction results in an underdamped response, characterized by a negative Floquet multiplier.
['Daan G. E. Hobbelen', 'Martijn Wisse']
I am writing a research paper on a idea Swing-Leg Retraction for Limit Cycle Walkers Improves Disturbance Rejection
[{"from": "human", "value": "I am writing a research paper on a idea Swing-Leg Retraction for Limit Cycle Walkers Improves Disturbance Rejection"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Limit cycle walkers are bipeds that exhibit a stable cyclic gait without requiring local controllability at all times during gait. A ll-known example of limit cycle walking is McGeer's ldquopassive dynamic walking,rdquo but the concept expands to actuated bipeds as involved in this study. One of the stabilizing effects in limit cycle walkers is the dissipation of energy that occurs when the swing foot hits the ground.  hypothesize that this effect can be enhanced with a negative relation beten the step length and step time. This relation is implemented through an open-loop strategy called swing-leg retraction; a predefined time trajectory for the swing leg makes the swing leg move backwards just prior to foot impact. ,  study the effect of swing-leg retraction through three bipeds; a simple point mass simulation model, a realistic simulation model, and a physical prototype. Their stability is analyzed using Floquet multipliers, follod by an evaluation of how ll disturbances are handled using the Gait Sensitivity Norm.  find that mild swing-leg retraction is optimal for the disturbance rejection of a limit cycle walker, as it results in a system response that is close to critically damped, rejecting the disturbance in the fest steps. Slor retraction results in an overdamped response, characterized by a positive dominant Floquet multiplier. Likewise, faster retraction results in an underdamped response, characterized by a negative Floquet multiplier."}]