Rimless wheel

G. K. Borovin, V. V. Lapshin


Abstract: The paper hypothesizes that bipedal walking is a process of self-oscillations in terms of variables. The simplest model of bipedal walking – the movement of a rimless wheel (a wheel with legs) is considered. In a nonlinear formulation, the dynamics of its plane motion down an inclined plane is analyzed analytically. It is shown that various modes of movement of a rimless wheel are possible. The most interesting of which is the existence of a stable periodic solution (self-oscillations).

Keywords: nonlinear dynamics, bipedal walking, rimless wheel.

DOI: 10.20948/prepr-2022-20