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.
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