caa a22 4500 475805372 CHVBK 20180406123745.0 cr unu---uuuuu 170329e20001001xx s 000 0 eng 10.1007/s004530010001 doi (NATIONALLICENCE)springer-10.1007/s004530010001 Approximating the Stance Map of a 2-DOF Monoped Runner [Elektronische Daten] [W. J. Schwind, D.E. Koditschek] Summary. : We report in this paper a relatively simple means of generating closed-form approximants to the return map associated with a family of nonintegrable Hamiltonian systems. These systems arise in consideration of legged locomotion by animals and robots. The approximations proceed through the iterated application of the mean value theorem for integral operators applied to a nonintegrable perturbation of the system of interest. Both the accuracy of these approximants and their algebraic intractability grow in a relatively controlled manner. Springer-Verlag New York Inc., 2000 Key words. Running, central force, perturbation, approximation, Mean Value Theorem, Picard iterates, plant model, return map, Hamiltonian mechanics nationallicence Schwind W. J. Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, MI 48109-2110, USA, US aut Koditschek D.E. Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, MI 48109-2110, USA, US aut Journal of Nonlinear Science Springer-Verlag 10/5(2000-10-01), 533-568 0938-8974 10:5<533 2000 10 332 https://doi.org/10.1007/s004530010001 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s004530010001 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Schwind W. J. Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, MI 48109-2110, USA, US aut NATIONALLICENCE 700 1- Koditschek D.E. Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, MI 48109-2110, USA, US aut NATIONALLICENCE 773 0- Journal of Nonlinear Science Springer-Verlag 10/5(2000-10-01), 533-568 0938-8974 10:5<533 2000 10 332 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer