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Dynamics of the walking stick insect

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3 Author(s)
Pfeiffer, F. ; Dept. of Mech. Eng., Munchen Tech. Univ., West Germany ; Weidemann, H.J. ; Danowski, P.

In order to gain insight into the biological constructional conception of walking as a basis for future technical developments, the gait dynamics of the walking stick insect (Carausies morosus) is investigated. It is modeled by a rigid multibody system consisting of 19 bodies and forming multiple closed kinematic chains corresponding to the regarded gait pattern. Thus, the changing structure during the walking motion yields a dynamic system with time-varying topology. The results of the computer simulation are compared with measurements of the insects, confirming the possibility of modeling natural walking motion by mechanical means

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990