Quartic Oscillator Model with Applications in Locomotion

Abstract

This work introduces a novel compliant model for running gaits. The model consists of a linear leg stiffness paired with a nonlinear energy regulation term. This new model, termed the quartic model, is shown to reproduce the external dynamics of a running gait. The characteristics of the gait are imposed through parametric conditions which are derived through linearization of the model. The nonlinear nature of the model ensures convergence towards a limit cycle, which makes the model a useful template for the control of legged systems.