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This paper analyzes the impulsive dynamics of two-link walking and brachiating robots, focusing on how gait stability and bifurcations are affected by slope and switching time under time-based versus state-based impact strategies. The research quantifies the impact of these switching mechanisms on the qualitative behavior of the robot's locomotion. Key findings reveal distinct stability landscapes and bifurcation patterns contingent on the chosen impact switching strategy.
State-based impact switching dramatically alters gait stability and bifurcation patterns in two-link robots compared to time-based strategies.
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.